Airplane automatic door opening device and control method

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses an aircraft automatic door opening device and a control method.The aircraft automatic door opening device comprises a connecting top plate, arc-shaped gear tracks, a cabin door and a driving assembly, the arc-shaped gear tracks are arranged at the front end and the rear end of the connecting top plate correspondingly, and a transmission gear is arranged at one end of the driving assembly; the end of the driving assembly is further provided with an adjusting assembly, and the other end of the driving assembly is connected with a cabin door. The driving assembly drives the whole driving assembly and the cabin doors to move through rotation of the transmission gears, and when the two cabin doors are opened and closed, the cabin doors move up and down in the arc direction of the arc-shaped gear rails, so that the problem that front, back, left and right spaces are insufficient due to the fact that front, back, left and right parts of the front part of the fuselage of the unmanned aerial vehicle are irregular curved surface contours is effectively solved; in addition, as the cabin door moves up and down in an arc when being opened and closed, the cabin door occupies too large space during movement, and the problem that the cabin door and the spherical pod interfere with each other is effectively avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to an automatic door opening device for an aircraft and a control method thereof. Background Art

[0002] With the rapid development of drones, their equipment is becoming increasingly diverse and demanding. The optoelectronic pod is mounted on the drone's nose, with the spherical pod exposed. This creates a certain amount of wind resistance during flight. When the spherical pod is not in use, it is hidden inside the drone's nose. When the spherical pod is required, the aircraft's doors must automatically open before further operations can be performed. Because the front, front, back, and left sides of the drone's fuselage have irregular curved contours, and the spherical pod is located near the center of these contours, there is relatively little space left for the automatic door opening mechanism. Furthermore, the door can only be opened and closed from within the aircraft; it cannot be opened outwards, as this would generate significant wind resistance and affect the drone's flight. Therefore, using a conventional bus door linkage mechanism to open the door inward or outward would interfere with the spherical pod. If a conventional motor and linear guide solution were used, the curved contour of the aircraft and the linear guide's linear motion would result in insufficient space for movement. If a synchronous belt is used for transmission, linear motion on the synchronous belt side is not possible. Transmission around the synchronous pulley is used, but the motor driven by the pulley needs to be at the center of rotation, and there is no support position for the motor installation at the center of rotation. Summary of the Invention

[0003] In order to solve the above problems, the technical solution adopted by the present invention is:

[0004] An automatic door opening device for an aircraft includes a connecting top plate, an arcuate gear track, a cabin door, and a drive assembly, wherein the arcuate gear track is provided at both the front and rear ends of the connecting top plate, the two arcuate gear tracks are suspended below the connecting top plate, and the two arcuate gear tracks are symmetrically arranged with the center line connecting the left and right ends of the top plate as the symmetry axis, one end of the drive assembly is provided with a transmission gear, the arcuate inner wall of the arcuate gear track is a rack structure, the rack structure is adapted to mesh with the transmission gear, and this end of the drive assembly is also provided with an adjustment assembly for adjusting the meshing gap between the transmission gear and the rack structure, and the other end of the drive assembly is connected to the cabin door.

[0005] Furthermore, there are two doors and two drive assemblies, the two doors are symmetrically arranged on the left and right, and the two drive assemblies are connected to the two doors in a one-to-one correspondence.

[0006] Furthermore, it is fixedly connected to the cabin door, and the output shaft of the drive motor is connected to the input shaft of the reducer. The output shaft of the reducer is connected to a transmission shaft through the coupling. One end of the transmission shaft is connected to the coupling, and the other end is coaxially connected to the transmission gear.

[0007] Furthermore, the adjustment assembly includes a guide wheel seat, a concentric roller and an eccentric roller. The transmission shaft passes through the end face of the guide wheel seat and is rotatably connected to the guide wheel seat through a bearing. The end face of the guide wheel seat is rotatably connected to the concentric roller and the eccentric roller, and the concentric roller and the eccentric roller are adapted to be clamped with the arc gear track.

[0008] Furthermore, the reducer is connected to an inclinometer.

[0009] Furthermore, a limiting piece adapted to the guide wheel seat is provided at the connection between the arc-shaped gear track and the connecting top plate.

[0010] Furthermore, the limiting component includes a mechanical limiting seat and a proximity switch, and the height of the mechanical limiting seat is higher than the height of the proximity switch.

[0011] Furthermore, a guide rail is provided on the rear end surface of the arc-shaped gear track, and the guide rail is clamped between the concentric roller and the eccentric roller.

[0012] A method for controlling an automatic door opening device of an aircraft comprises the following steps:

[0013] S1, monitoring the control current I1 of the drive motor in the left drive assembly and the control current I2 of the drive motor in the right drive assembly;

[0014] S2, monitoring the tilt reading Q1 of the inclinometer connected to the left reducer and the tilt reading Q2 of the inclinometer connected to the right reducer;

[0015] S3. Calculate the current difference ΔI and the tilt reading difference ΔQ A , where ΔI=I1-I2, ΔQ A =Q1-Q2, real-time monitoring of ΔI and ΔQ A , and set the threshold range, if ΔI and ΔQ A If it is not within the threshold range, I1 or I2 will be adjusted in real time; when ΔI and ΔQ A When ΔI and ΔQ are less than 0, I1 is increased; A大 When it is 0, I2 increases.

[0016] Beneficial effects of the present invention:

[0017] 1. The drive assembly rotates the transmission gear, which moves along the arc of the curved gear track. Simultaneously, this movement drives the entire drive assembly and the hatch, thereby opening and closing the two hatches. The hatches move up and down along the arc of the curved gear track when opening and closing, effectively resolving the issue of insufficient front, rear, and left / right space caused by the irregular curved contours of the front of the drone. Furthermore, since the hatches open and close in an up and down arc, which takes up too much space, interference between the hatches and the spherical pod is effectively avoided.

[0018] 2. By adjusting the position of the eccentric roller on the guide wheel seat, the height of the transmission gear can be fine-tuned to ensure that the meshing clearance between the transmission gear and the rack structure is within the specified range, and the clearance error can be numerically quantified. The operation is simple, convenient and fast.

[0019] 3. The movement synchronization of the two doors is judged by both the current difference ΔI and the inclinometer reading difference ΔQA. When the real-time data exceeds this value, it is judged that the current of the door motor on one side is too small, and the current is increased.

[0020] 4. By adjusting the meshing clearance between the transmission gear and the rack structure, the transmission accuracy, gear meshing clearance size and wear detection can be monitored at any time to achieve preventive maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and, together with the description, serve to explain the principles of the invention.

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 This is a schematic diagram of the door closing structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the door opening structure of the present invention;

[0025] Figure 3 It is a partial structural diagram of the arc gear track;

[0026] Figure 4 is a cross-sectional view of the arc gear track;

[0027] Figure 5 is a cross-sectional view of the concentric roller;

[0028] Figure 6is a cross-sectional view of the eccentric roller;

[0029] Figure 7 This is a cross-sectional view of the guide wheel seat.

[0030] In the figure: 1. Connecting top plate; 2. Arc gear track; 201. Guide rail; 3. Hatch door; 4. Transmission gear; 5. Drive motor; 6. Reducer; 7. Coupling; 8. Transmission shaft; 9. Guide wheel seat; 10. Concentric roller; 11. Eccentric roller; 12. Inclinometer; 13. Proximity switch; 14. Mechanical limit seat. DETAILED DESCRIPTION

[0031] To make the purpose, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0032] Unless otherwise defined, the technical or scientific terms used in this disclosure should have the usual meanings understood by people with ordinary skills in the field to which this disclosure belongs. The words "first", "second" and similar words used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0033] like Figure 1-Figure 7 As shown, an automatic door opening device for an aircraft includes a connecting top plate 1, an arcuate gear track 2, a cabin door 3 and a driving assembly, wherein the arcuate gear track 2 is provided at both the front and rear ends of the connecting top plate 1, the two arcuate gear tracks 2 are suspended below the connecting top plate 1, and the two arcuate gear tracks 2 are symmetrically arranged with the center line of the left and right ends of the connecting top plate 1 as the symmetry axis, one end of the driving assembly is provided with a transmission gear 4, the arcuate inner wall of the arcuate gear track 2 is a rack structure, the rack structure is adapted to mesh with the transmission gear 4, and this end of the driving assembly is also provided with an adjustment assembly for adjusting the meshing gap between the transmission gear 4 and the rack structure, and the other end of the driving assembly is connected to the cabin door 3.

[0034] The connecting top plate 1 is a rectangular steel plate with connecting holes at the four corners of the connecting top plate 1. The arc gear track 2 is a semicircular arc track with a threaded hole matching the connecting hole on the end face of the upper end. The two arc gear tracks 2 are fixedly mounted on the lower end face of the connecting top plate 1 by means of bolt connection. When installing the arc gear track 2, the arc gear track 2 can be quickly positioned and installed through the connecting holes and the threaded holes to ensure that the two arc gear tracks 2 are in a parallel state. In addition, the lower end face of the connecting top plate 1 is a smooth plane. When the upper end faces of the two arc gear tracks 2 are fitted with the lower end face of the connecting top plate 1, it can effectively ensure that the two arc gear tracks 2 are at the same hanging height to avoid height difference.

[0035] Specifically, there are two doors 3 and two drive assemblies, and the two doors 3 are symmetrically arranged on the left and right, and the two drive assemblies are connected to the two doors 3 in a one-to-one correspondence. In the present invention, the drive assembly drives the transmission gear 4 to rotate, and the transmission gear 4 moves along its arc on the arc gear track 2, and while moving, it drives the entire drive assembly and the doors 3 to move, thereby realizing the opening and closing of the two doors 3. When the two doors 3 open and close, they move up and down along the arc direction of the arc gear track 2, effectively solving the problem of insufficient front, back, left, and right space caused by the irregular curved surface contours of the front part of the drone's fuselage. In addition, because the doors 3 move up and down in an arc when opening and closing, they occupy too much space when moving, effectively avoiding the problem of interference between the doors 3 and the spherical pod.

[0036] Specifically, the drive assembly includes a drive motor 5, a reducer 6 and a coupling 7. The outer wall of the drive motor 5 is fixedly connected to the cabin door 3, and the output shaft of the drive motor 5 is connected to the input shaft of the reducer 6. The output shaft of the reducer 6 is connected to the transmission shaft 8 through the coupling 7. One end of the transmission shaft 8 is connected to the coupling 7, and the other end is coaxially connected to the transmission gear 4.

[0037] The drive motor 5 uses a servo motor with a brake locking function, and the reducer 6 uses a worm gear reducer with a self-locking function. When the cabin door 3 is opened or closed, the self-locking of the drive motor 5 and the reducer 6 can prevent the transmission gear 4 from rotating, thereby maintaining the position of the cabin door 3.

[0038] Specifically, the adjustment assembly includes a guide wheel seat 9, a concentric roller 10, and an eccentric roller 11. The transmission shaft 8 passes through the end face of the guide wheel seat 9 and is rotatably connected to the guide wheel seat via a bearing. The concentric roller 10 and the eccentric roller 11 are rotatably connected to the end face of the guide wheel seat 9. The concentric roller 10 and the eccentric roller 11 are adapted to clamp with the arc gear track 2. The rear end face of the arc gear track 2 is provided with a guide rail 201, which is clamped between the concentric roller 10 and the eccentric roller 11. When the hatch 3 moves up and down, the concentric roller 10 and the eccentric roller 11 move on the guide rail 201, guiding and supporting the transmission gear 4.

[0039] Specifically, such as Figure 5 and Figure 6 As shown, the concentric roller 10 and the eccentric roller 11 each include a mounting portion and a roller portion. The mounting portions are provided with two disc-shaped portions. A threaded connection groove is provided at the axis of the mounting portion, which is used to threadably connect to a stud. The two mounting portions are connected by the stud. The roller portion is sandwiched between the two mounting portions and connected to the stud via a bearing. The mounting portion of the concentric roller 10 also has a connecting post at the axis, which is used to threadably connect to the guide wheel seat 9. The mounting portion of the eccentric roller also has a connecting post at a position away from the axis, which is used to threadably connect to the guide wheel seat 9. Specifically, the guide wheel seat 9 has a through hole with the same diameter as the connecting post. When installing the concentric roller 10 and the eccentric roller 11, the connecting post is inserted into the through hole. The connecting post also has an external thread. A nut is threaded onto the connecting post, and the mounting portion is locked to the guide wheel seat 9 using the nut. When the eccentric roller 11 needs to be adjusted, the nut is slightly loosened and the eccentric roller 11 is rotated to adjust the height of the eccentric roller 11 .

[0040] In the present invention, due to various factors such as the processing error of the gears, the actual meshing trajectory of the gears after assembly will deviate greatly from the designed theoretical meshing trajectory. The conventional method is to continuously test the meshing clearance between the two gears by using a feeler gauge or a gasket, but this method is relatively cumbersome, and it is difficult to accurately test the meshing clearance of all gears and the accuracy is not high. In addition, when the hatch 3 moves repeatedly for a long time, the gap between the transmission gear 4 and the rack structure will become larger, and the transmission gear 4 needs to be maintained or corrected. At this time, the height of the transmission gear 4 can be fine-tuned by adjusting the position of the eccentric roller 11 on the guide wheel seat 9 to ensure that the meshing clearance between the transmission gear 4 and the rack structure is within the specified range. The operation is simple, convenient and fast.

[0041] Specifically, the reducer 6 is connected to an inclinometer 12. The inclinometer 12 can monitor the rotation and tilt angle of the hatch 3 in real time.

[0042] Specifically, the connection between the curved gear track 2 and the connecting top plate 1 is provided with a limiter adapted for the guide wheel seat 9. The limiter comprises a mechanical limiter seat 14 and a proximity switch 13, with the mechanical limiter seat 14 being higher than the proximity switch 13. The mechanical limiter seat 14 mechanically limits the hatch 3, preventing it from opening excessively. The proximity switch 13 is used to softly limit the hatch 3. When the hatch 3 moves into the monitoring range of the proximity switch 13, it triggers the proximity switch 13, de-energizing the drive motor 5 and reducer 6, placing them in a self-locking state. This first involves electrical soft limiting, then mechanical limiting.

[0043] A method for controlling an automatic door opening device of an aircraft comprises the following steps:

[0044] S1, monitoring the control current I1 of the drive motor 5 in the left drive assembly and the control current I2 of the drive motor 5 in the right drive assembly;

[0045] S2, monitoring the tilt reading Q1 of the inclinometer 12 connected to the left speed reducer 6 and the tilt reading Q2 of the inclinometer 12 connected to the right speed reducer 6;

[0046] S3. Calculate the current difference ΔI and the tilt reading difference ΔQ A , where ΔI=I1-I2, ΔQ A =Q1-Q2, real-time monitoring of ΔI and ΔQ A , and set the threshold range, if ΔI and ΔQ A If it is not within the threshold range, I1 or I2 will be adjusted in real time; when ΔI and ΔQ A When ΔI and ΔQ are less than 0, I1 is increased; A大 When it is 0, I2 increases.

[0047] Since the left and right doors 3 are opened and closed at the same time, the transmission synchronization of the two doors is more important. Therefore, the movement synchronization of the two doors is judged by both the current difference ΔI and the inclinometer reading difference ΔQA. When the real-time data exceeds this value, it is judged that the current of the door motor on one side is too small, and the current is increased.

[0048] Due to various factors such as gear processing errors, the actual meshing trajectory of the gears after assembly can deviate significantly from the designed theoretical meshing trajectory. The conventional method is to continuously test the meshing clearance between the two gears using methods such as feeler gauges or shims. However, this method is relatively cumbersome and difficult to accurately test the meshing clearance of all gears, and the accuracy is not high. In the present invention, the reading of the rotary encoder of the drive motor 5 itself is compared and fed back with the reading of the inclinometer 12 to determine whether the meshing clearance of the transmission gear 4 is within the set range value. The reading of the inclinometer 12 at the starting position is recorded as Q3, the encoder of the drive motor 5 reads the number of rotations of the transmission gear 4 as n, and the reading of the inclinometer 12 after the transmission gear 4 rotates is Q4. The rotation radius of the transmission gear 4 is r, the radius of the arc gear track 2 is R, and the inclinometer feedback motion angle is ΔQ = Q4-Q3; the center angle of the transmission gear 4 relative to the arc track is θ1 = 2πrn / R; the clearance error of the pinion Δθ = ΔQ-θ1 is numerically quantified, solving many problems left over from traditional methods. Therefore, during the debugging assembly and motion control, the gap error Δθ of the transmission gear 4 is controlled and fed back. If it exceeds the error value, the gap size is adjusted by adjusting the eccentric roller 11 to meet the gap error Δθ within the set value.

[0049] (1) Unless otherwise defined, in the embodiments of the present disclosure and the accompanying drawings, the same reference numerals represent the same meanings.

[0050] (2) In the drawings of the embodiments of the present disclosure, only the structures related to the embodiments of the present disclosure are involved, and other structures can refer to the general design.

[0051] (3) For the sake of clarity, components or regions are exaggerated in the drawings used to describe embodiments of the present disclosure. It is understood that when an element is referred to as being “on” or “under” another element, the element may be “directly on” or “under” the other element, or intervening elements may be present.

[0052] The above description is merely a specific embodiment of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this disclosure should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims.

Claims

1. An automatic door opening device for an aircraft, characterized in that: The invention comprises a connecting top plate (1), an arc-shaped gear track (2), a hatch (3) and a driving assembly, wherein the arc-shaped gear track (2) is provided at both the front and rear ends of the connecting top plate (1), the two arc-shaped gear tracks (2) are suspended below the connecting top plate (1), and the two arc-shaped gear tracks (2) are symmetrically arranged with the center line of the left and right ends of the connecting top plate (1) as the symmetry axis, one end of the driving assembly is provided with a transmission gear (4), the arc-shaped inner wall of the arc-shaped gear track (2) is a rack structure, the rack structure is adapted to mesh with the transmission gear (4), and the end of the driving assembly is also provided with an adjustment assembly for adjusting the meshing gap between the transmission gear (4) and the rack structure, and the other end of the driving assembly is connected to the hatch (3).

2. The automatic door opening device for an aircraft according to claim 1, characterized in that: The two doors (3) and the two drive assemblies are both provided with two, the two doors (3) are arranged symmetrically on the left and right, and the two drive assemblies are connected to the two doors (3) in a one-to-one correspondence.

3. The automatic door opening device for an aircraft according to claim 2, characterized in that: The driving assembly comprises a driving motor (5), a reducer (6) and a coupling (7); the outer wall of the driving motor (5) is fixedly connected to the cabin door (3); the output shaft of the driving motor (5) is connected to the input shaft of the reducer (6); the output shaft of the reducer (6) is connected to a transmission shaft (8) through the coupling (7); one end of the transmission shaft (8) is connected to the coupling (7), and the other end is coaxially connected to the transmission gear (4).

4. The automatic door opening device for an aircraft according to claim 3, characterized in that: The adjustment assembly includes a guide wheel seat (9), a concentric roller (10) and an eccentric roller (11); the transmission shaft (8) passes through the end face of the guide wheel seat (9) and is rotatably connected to the guide wheel seat through a bearing; the end face of the guide wheel seat (9) is rotatably connected to the concentric roller (10) and the eccentric roller (11), and the concentric roller (10) and the eccentric roller (11) are adapted to be clamped with the arc gear track (2).

5. The automatic door opening device for an aircraft according to claim 4, characterized in that: The speed reducer (6) is connected to an inclinometer (12).

6. The automatic door opening device for an aircraft according to claim 4, characterized in that: A position limiting member adapted to the guide wheel seat (9) is provided at the connection point between the arc-shaped gear track (2) and the connecting top plate (1).

7. The automatic door opening device for an aircraft according to claim 6, characterized in that: The limiting member comprises a mechanical limiting seat (14) and a proximity switch (13), and the height of the mechanical limiting seat (14) is higher than the height of the proximity switch (13).

8. The automatic door opening device for aircraft according to claim 4, characterized in that: A guide rail (201) is provided on the rear end surface of the arc-shaped gear track (2), and the guide rail (201) is clamped between the concentric roller (10) and the eccentric roller (11).

9. A control method for an automatic door opening device for an aircraft, used in an automatic door opening device for an aircraft according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1, monitoring the control current I1 of the drive motor (5) in the left drive assembly and the control current I2 of the drive motor (5) in the right drive assembly; S2, monitoring the tilt reading Q1 of the inclinometer (12) connected to the left speed reducer (6) and the tilt reading Q2 of the inclinometer (12) connected to the right speed reducer (6); S3. Calculate the current difference ΔI and the tilt reading difference ΔQ A , where ΔI=I1-I2, ΔQ A =Q1-Q2, real-time monitoring of ΔI and ΔQ A , and set the threshold range, if ΔI and ΔQ A If it is not within the threshold range, I1 or I2 will be adjusted in real time; when ΔI and ΔQ A When ΔI and ΔQ are less than 0, I1 is increased; A When it is greater than 0, I2 increases.

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