A floating engine connection AGV system and method

Abstract

The application relates to a floating engine connection AGV system and method, belonging to the technical field of transfer equipment, and comprising a multi-degree-of-freedom AGV, which comprises a chassis frame, a floating frame and an air floating module connected between the two, the air floating module is used for driving the floating frame to float relative to the chassis frame to realize posture fine adjustment, the air floating module can be switched between at least two working modes providing different supporting floating forces according to the size of a connected load, a plurality of interfaces are arranged on the floating frame and are used for selectively connecting different components of an engine. The application is suitable for flexible connection of a commercial engine, and realizes flexible, efficient and automatic connection and carrying of the whole engine and core engine components under different working conditions.

Description

Technical Field

[0001] This invention belongs to the field of transfer equipment technology, and in particular relates to a floating engine docking AGV system and method. Background Technology

[0002] As commercial aircraft engine assembly moves towards automation and intelligence, traditional ground-based engine assembly methods are gradually being replaced by overhead lifting systems that offer more convenient docking and greater assembly flexibility. However, existing overhead assembly equipment still faces the following connection challenges in practical applications:

[0003] On the one hand, if the engine fails to meet the test indicators during assembly, it needs to be frequently taken off the line for buffering and then put back on for adjustment. On the other hand, after the engine is fully assembled, it needs to be smoothly removed from the line and transported to a designated workstation for subsequent assembly or testing. Currently, the removal of the complete engine from the line is mostly done using manually operated mobile tooling vehicles. However, due to the complex structure and compact space of the front-end AGB component of the engine, it is difficult to quickly align the fan bearing pin with the tooling vehicle interface, resulting in a long docking cycle and low efficiency.

[0004] Furthermore, existing assembly vehicles are mostly only suitable for unloading the entire machine. For the unloading and connection of core components, multiple overhead cranes still need to be used in conjunction, which is difficult to operate, lacks coordination, and poses safety hazards. During the docking process, manually pushing the tooling vehicle to adjust its posture is not only labor-intensive but also makes it difficult to ensure docking accuracy, easily introducing assembly stress and affecting the quality of engine assembly.

[0005] Therefore, how to achieve flexible, efficient, and automated connection and transportation of the entire engine and core components under different operating conditions has become a key technical problem that urgently needs to be solved in the field of aero-engine assembly. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a floating engine docking AGV system and method, which is suitable for the flexible docking of commercial engines, enabling flexible, efficient, and automated docking and transportation of the entire engine and core components under different operating conditions.

[0007] A floating engine-connected AGV system, comprising:

[0008] A multi-degree-of-freedom AGV (1) includes a chassis frame (13), a floating frame (15), and an air-float module (14) connected between the two. The air-float module (14) is used to drive the floating frame (15) to float relative to the chassis frame (13) to achieve fine-tuning of attitude. The air-float module (14) can switch between at least two working modes that provide different support buoyancy according to the size of the connected load.

[0009] Multiple interfaces are provided on the floating frame (15) for selective connection to different components of the engine (2).

[0010] The chassis frame (13) adopts an omnidirectional wheel system layout, including multiple steering wheels (10) distributed at the four corners and multiple omnidirectional auxiliary wheels (11) distributed in the middle, so as to realize the omnidirectional movement of the multi-degree-of-freedom AGV (1).

[0011] The air flotation module (14) includes multiple air cushions (144) and a control valve group connected to the air cushions (144). The control valve group switches the working mode by changing the number of air cushions (144) connected to the working mode and / or the gas pressure introduced into the air cushions (144).

[0012] The operating modes include an initial mode for no-load or initial alignment, a light-load mode for connecting the fan core components, and a heavy-load mode for connecting the entire engine.

[0013] The plurality of interfaces include an AGV fan support pin interface (17), which has a contoured column (172) for avoiding the AGB assembly (21) of the engine.

[0014] The AGV fan load-bearing pin interface (17) also includes an inner upturn interface (177) and an outer upturn interface (174) that are arranged opposite to each other. The two can be closed and the load-bearing pin (32) of the engine can be locked by bolts.

[0015] The multiple interfaces also include an interstage casing flip interface (18) and / or a low-vortex flip interface (19), both of which are interfaces capable of flipping around a hinge and are detachably connected to the corresponding tooling (24, 26) via locking pins.

[0016] The system also includes an assembly vehicle (3), which is provided with an assembly vehicle load-bearing pin interface (31). The assembly vehicle load-bearing pin interface (31) includes a flip-down interface connector (315) and a flip-down interface load-bearing pin cover (311). The flip-down interface load-bearing pin cover (311) can be flipped down and opened to release the load-bearing pin (32) of the engine (2) to the multi-degree-of-freedom AGV (1) after the load is transferred.

[0017] A method for engine docking using the floating engine docking AGV system described above includes the following steps:

[0018] Move the multi-degree-of-freedom AGV (1) to the docking position with the assembly vehicle (3) of the suspended engine (2);

[0019] Connect the interface on the floating frame (15) to the corresponding component of the engine (2);

[0020] Switch the air flotation module (14) to a working mode that matches the current connection conditions;

[0021] Release the engine (2) from the assembly vehicle (3) to transfer the load of the engine (2) to the multi-degree-of-freedom AGV (1).

[0022] The current connection conditions include heavy-load conditions for connecting the entire engine and light-load conditions for connecting the core fan components. Under heavy-load conditions, the air flotation module (14) switches to heavy-load mode; under light-load conditions, the air flotation module (14) switches to light-load mode.

[0023] By employing the above technical solution, the present invention has at least the following beneficial effects:

[0024] The system provided by this invention uses a multi-degree-of-freedom AGV as its main body, integrating a fan support pin interface, an inter-stage casing interface, and a low-vortex interface for core engine docking and engine assembly docking. The fan support pin interface adopts a contour-following design, taking into account the assembly vehicle's support pin interface, and combines with an upward-flipping fixing interface to achieve docking with the assembly vehicle. A floating module is integrated on the multi-degree-of-freedom AGV, which can automatically switch to floating mode according to different working conditions, facilitating manual fine-tuning of the multi-degree-of-freedom AGV's attitude.

[0025] 1. This invention analyzes the shortcomings of suspended assembly equipment in the process of loading and unloading components during engine assembly and proposes a floating docking AGV system that simultaneously meets the requirements of flexible docking and automatic transportation for both the unloading of the entire engine and the unloading of components.

[0026] 2. This invention addresses the attitude adjustment issues during engine docking under different operating conditions and proposes an adaptive air-float module. The air-float module can switch operating modes as needed, covering engine docking requirements under three load conditions: no-load, core engine unloading, and complete engine unloading.

[0027] 3. This invention takes into account the irregular shape of the AGB component and designs a contoured fan support pin interface. The irregular shape at the end of the interface ensures that the support pin interface of the assembly vehicle can be easily disengaged from the multi-degree-of-freedom AGV after being released, thus improving docking efficiency. Attached Figure Description

[0028] Figure 1 A schematic diagram of a floating engine docking AGV system provided by the present invention;

[0029] Figure 2 This is a schematic diagram of the entire engine.

[0030] Figure 3 A schematic diagram showing the docking status of the engine fan core components;

[0031] Figure 4 This is a schematic diagram showing the entire engine assembly in its docked state;

[0032] Figure 5 This is a schematic diagram showing the docking state of the entire machine with the multi-degree-of-freedom AGV in this invention;

[0033] Figure 6 This is a schematic diagram of the assembly vehicle in this invention;

[0034] Figure 7 This is a schematic diagram of the AGV fan bearing pin interface in this invention;

[0035] Figure 8 This is a front view of the AGV fan bearing pin interface in this invention;

[0036] Figure 9 This is a schematic diagram of the assembly vehicle load-bearing pin interface in this invention;

[0037] Figure 10 This is a schematic diagram showing the docking state of the assembly vehicle load-bearing pin interface in this invention;

[0038] Figure 11 This is a schematic diagram of the low-vortex flipping interface in this invention;

[0039] Figure 12 This is a schematic diagram of the low-vortex tooling in this invention;

[0040] Figure 13 This is a schematic diagram of the interstage casing flip-over interface in this invention;

[0041] Figure 14 This is a schematic diagram of the air flotation module in this invention;

[0042] Figure 15 This is a schematic diagram of the air cushion structure in the present invention;

[0043] Figure 16 for Figure 15 Side view;

[0044] Figure 17 A flowchart illustrating the workflow of a floating engine-connected AGV system;

[0045] In the picture:

[0046] 1. Multi-DOF AGV; 2. Engine; 3. Assembly vehicle; 4. Crossbeam system; 10. Steering wheel; 11. Omnidirectional auxiliary wheel; 12. Floating limit switch; 13. Chassis frame; 14. Air flotation module; 15. Floating frame; 16. Battery system; 17. AGV fan load-bearing pin interface; 18. Interstage casing flip interface; 19. Low vortex flip interface; 21. AGB assembly; 22. Fan unit; 23. Load-bearing pin connection hole; 24. Interstage casing tooling; 25. Core machine; 6. Low-vortex tooling; 27. Core machine lifting point; 28. Low-vortex; 31. Assembly vehicle load-bearing pin interface; 32. Load-bearing pin; 33. Active rolling module; 34. Core machine lifting rod; 35. Driven rolling module; 36. Traveling unit; 37. Lifting unit; 141. Floating module switch; 142. Light load switching switch; 143. Heavy load switching switch; 144. Air cushion; 145. First reversing valve; 146. Pressure reducing valve; 147. Second reversing valve; 148. Third reversing valve; 171 172. Column connecting plate; 173. Contour column; 174. Irregular support; 175. Outer side upturn interface; 176. Upturn bolt; 177. Anti-loosening nut; 188. Inner side upturn interface; 189. Interstage housing slewing hinge; 180. Interstage housing flip-up connection fixture; 181. Interstage housing interface locking pin; 182. Interstage housing interface support seat; 193. Low vortex slewing hinge; 194. Low vortex slewing interface; 195. Low vortex interface support seat; 196. Low vortex interface locking pin; 261. Positioning pin hole for driven rolling module; 262. Connecting hole for driven rolling module; 263. Positioning pin hole for low-vortex flip interface; 264. Connecting hole for low-vortex unit; 311. Load-bearing pin cover plate for flip-down interface; 312. Connecting bolt for flip-down interface; 313. Anti-loosening washer for flip-down interface; 314. Locking nut for flip-down interface; 315. Connecting seat for flip-down interface; 1441. Air cushion support seat; 1442. Air cushion connecting plate; 1443. Air float plate; 1444. Air inlet. Detailed Implementation

[0047] To better explain and facilitate understanding of the present invention, the technical solution and effects of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] like Figures 1-17 As shown, a floating engine docking AGV system is used for the flexible docking and transportation of a commercial engine 2. The commercial engine 2 mainly includes an AGB assembly 21, a fan unit 22, a load-bearing pin connection hole 23, an interstage casing tooling 24, a core engine 25, a low-pressure vortex tooling 26, a core engine lifting point 27, and a low-pressure vortex 28. The fan unit 22 and the core engine 25 constitute the fan core engine assembly. Specifically, the floating engine docking AGV system includes a multi-degree-of-freedom AGV 1 and an assembly vehicle 3 that work collaboratively. The docking and separation of interfaces enable the docking and transportation of the engine 2.

[0049] The multi-degree-of-freedom AGV1 comprises, from top to bottom, a top-layer interface section, a middle-layer floating frame 15, and a bottom-layer chassis frame 13 and walking mechanism. The AGV chassis frame 13 is a welded structure frame, serving as the load-bearing base for the entire multi-degree-of-freedom AGV1. The wheel system of the AGV chassis frame 13 adopts an omnidirectional layout consisting of four steering wheels 10 and two omnidirectional auxiliary wheels 11. The four steering wheels 10 are specifically distributed at the four corners of the frame, serving as drive wheels; the two omnidirectional auxiliary wheels 11 are installed at auxiliary support points in the middle of the long side of the frame. This structural layout of four steering wheels 10 and two omnidirectional auxiliary wheels 11 enables the multi-degree-of-freedom AGV1 to achieve omnidirectional movement capabilities, including straight movement in the X direction, lateral movement in the Y direction, turning in place around the Z-axis, large-angle turning, and diagonal movement.

[0050] The floating frame 15 is an intermediate transition structure located above the chassis frame 13, and its lower part is connected to the air flotation module 14. The air flotation module 14 includes six air cushions 144. Each air cushion 144 includes an air flotation disc 1443, and each air flotation disc 1443 is provided with an air inlet 1444. The air flotation disc 1443 is fixedly connected to the lower surface of the floating frame 15 through an air cushion connecting plate 1442; air cushion support seats 1441 are provided at the four corners of the air cushion connecting plate 1442. When the air flotation module 14 is not working, the air cushion support seats 1441 sit directly on the upper surface of the chassis frame 13, and the chassis frame 13 supports the weight of the floating frame 15 and the load above it; when the air flotation module 14 is working, compressed air enters the air flotation disc 1443 from the air inlet 1444, the air flotation disc 1443 expands, pushing the floating frame 15 upward, causing the air cushion support seats 1441 to detach from the chassis frame 13. At this point, there is no rigid contact between the floating frame 15 and the chassis frame 13, and it is in an air-floating state, enabling horizontal floating and attitude adjustment within a 100mm range on one side. Furthermore, floating limiters 12 are installed around the floating frame 15. These limiters 12 cooperate with limit blocks on the chassis frame 13 to ensure that the floating frame 15 moves within a specified floating range, preventing structural detachment or damage due to excessive floating. Each pair of air cushions 144 forms a group, located in the front fan area, the central core engine area 25 area, and the rear low-pressure vortex area, respectively.

[0051] Furthermore, the air flotation module 14 also includes a control valve assembly installed between the air source and the air cushion 144, located within the chassis frame 13. Specifically, it includes a first reversing valve 145, a pressure reducing valve 146, a second reversing valve 147, and a third reversing valve 148. The second reversing valve 147 is equipped with a light-load switching switch 142, and the third reversing valve 148 is equipped with a heavy-load switching switch 143. The control valve assembly is fixed inside the chassis frame 13, and its outlet is connected to the air inlets 1444 of the six air cushions 144 via pipelines. Further, the first reversing valve 145, the second reversing valve 147, and the third reversing valve 148 correspond to the initial mode, light-load mode, and heavy-load mode, respectively. Specifically, the air flotation module 14 includes three operating conditions: supporting the frame, supporting the fan and core unit, and supporting the entire machine. Assuming the frame weight is... The fan weighs 1. The core machine weighs 25. The weight of the low-pressure vortex 28 is Let the load of the floating module be... The following relation is obtained:

[0052]

[0053] The load-bearing capacity formula for air cushion 144 is as follows: ,in For the air cushion 144 working quantity, For the effective input pressure of the air cushion 144, This refers to the effective working area of ​​the air cushion 144. In this solution, all air cushion 144 units use the same model and configuration. It is a fixed value. Therefore, by changing the number of working air cushions 144... and input pressure This is to adjust the load-bearing capacity of the air cushion 144 to accommodate different loads on the floating module. This solution is designed... and Two pressure values ​​and , The two types of air cushions, each with a working capacity of 144, are substituted into the load relationship formula to obtain:

[0054]

[0055] The formula assumes that the number of air cushions 144 are respectively , The quantity is switched via a reversing valve; thus, the quantity is obtained. and The specific value is achieved by switching the pressure through a reversing valve combined with a pressure reducing valve 146.

[0056] The working principle of the air flotation module 14 is shown in the figure. The air flotation module 14 is turned on and off by the floating module switch 141. When the air flotation module 14 needs to work, the floating module switch 141 is pressed, the pilot air path of the first reversing valve 145 is opened, and the air cushion 144 in the fan and core machine 25 area is driven by the pressure reducing valve 146 to work, lifting the floating frame 15. When the floating module needs to switch to "light load mode", the light load switching switch 142 is pressed, the pilot air path of the second reversing valve 147 is opened, and it is switched to the left position; at this time, the pressure reducing valve 146 is not working, and high pressure gas directly enters the air cushion 144 in the fan and core machine 25 area to increase its load capacity. When the floating module needs to be switched to "heavy load mode", the heavy load switching switch 143 is pressed, the pilot air circuit of the third reversing valve 148 is connected, and it is switched to the left position; at this time, the air cushion 144 in the rear low vortex 28 area is connected, and the six air cushions 144 of the air float module 14 work simultaneously to realize the docking of the engine 2.

[0057] The interface section is mounted on the upper surface of the floating frame 15 and floats together with the floating frame 15. Specifically, it includes the AGV fan bearing pin interface 17, the interstage casing flip interface 18, and the low-vortex flip interface 19.

[0058] The AGV fan support pin interface 17 is used to connect with the support pin 32 of the engine 2, and includes a column connecting plate 171, a contoured column 172, a non-circular support 173, an inner upturn interface 177, an outer upturn interface 174, an upturn bolt 175, and a lock nut 176. The column connecting plate 171 is fixed to the floating frame 15 by bolts, and the contoured column 172 is installed on the column connecting plate 171. Furthermore, the contoured column 172 is designed to mimic the shape of the AGB component 21. Because the AGB component 21 protrudes outward, supporting the engine 2 across the AGB component 21 results in an excessively large overall size for the multi-degree-of-freedom AGV1. Therefore, in order to meet the docking requirements with the assembly vehicle 3, there are requirements for the lateral dimensions of the multi-degree-of-freedom AGV1. Thus, the contoured column 172 needs to be designed to mimic the lateral dimensions of the AGV, minimizing the overall size of the AGV while avoiding interference from the AGB component 21 of the engine 2. The irregularly shaped support 173 is fixed to the top of the contoured column 172 and is used to support the load-bearing pin 32. The inner flip-up interface 177 and the outer flip-up interface 174 are hinged to both sides of the irregularly shaped support 173 and can be flipped upwards when the load-bearing pin 32 is installed. After installation, they are closed downwards, and the load-bearing pin 32 is firmly fixed in the interface by inserting the flip-up bolt 175 and tightening the anti-loosening nut 176. The entire AGV fan load-bearing pin interface 17 is a contoured interface, adopting an upward-flipping irregularly shaped interface with a central opening, so that the lower cover of the assembly vehicle can be opened to achieve docking of the engine 2.

[0059] The interstage casing flip-over interface 18 is used to dock with the interstage casing fixture 24 of the core machine 25, and specifically includes an interstage casing interface support 184, an interstage casing slewing hinge 181, an interstage casing flip-over connecting fixture 182, and an interstage casing interface locking pin 183. The interstage casing interface support 184 is fixed to the floating frame 15. The interstage casing flip-over connecting fixture 182 is a rod-shaped structure, connected to the interstage casing interface support 184 via the interstage casing slewing hinge 181, allowing the interface to flip around the hinge axis in a vertical plane. In the non-operating state, the interstage casing flip-over connecting fixture 182 is locked onto the interstage casing interface support 184 by the interstage casing interface locking pin 183. During operation, pull out the interstage housing interface locking pin 183, flip the interstage housing flip connection fixture 182 to the horizontal, and then connect it to the corresponding pin hole on the interstage housing fixture 24 through the interstage housing interface locking pin 183.

[0060] The structure and connection relationship of the low-vortex flip interface 19 are exactly the same as those of the inter-stage casing flip interface 18, and it is used to dock with the low-vortex tooling 26 of the low-vortex 28. Specifically, it includes a low-vortex interface support 193, a low-vortex rotary hinge 191, a low-vortex rotary interface 192, and a low-vortex interface locking pin 194. The low-vortex interface support 193 is connected to the floating frame 15 of the AGV. The low-vortex rotary interface 192 is a flip head with a connection hole, one end of which is connected to the low-vortex interface support 193 via the low-vortex rotary hinge 191. In the non-working state, to ensure that the low-vortex rotary interface 192 does not interfere or get damaged due to shaking, the low-vortex rotary interface 192 is locked to the low-vortex interface support 193 via the low-vortex interface locking pin 194. At this time, the low-vortex rotary interface 192 is in a retracted state. During operation, manually pull out the locking pin 194 of the low vortex interface to release the constraint on the low vortex rotary interface 192, rotate the low vortex rotary interface 192 upward around the low vortex rotary hinge 191 to the horizontal working position, and align the connecting hole at the front end of the low vortex rotary interface 192 with the preset low vortex flip interface positioning pin hole 263 on the low vortex tooling 26 to achieve docking with the low vortex tooling 26.

[0061] The multi-degree-of-freedom AGV1 also includes a battery system 16, which is installed inside the chassis frame 13 to provide power for the multi-degree-of-freedom AGV1's walking, air-float module 14 and control system.

[0062] The assembly vehicle 3 is used to suspend and move the engine 2 during the assembly process. Specifically, it includes a walking unit 36 ​​and a lifting unit 37. The walking unit 36 ​​is connected to the main frame of the assembly vehicle 3 and includes multiple wheels. It travels on the crossbeam system 4 to achieve axial movement of the engine 2. The lifting unit 37 adopts a scissor-type lifting mechanism, a screw jack, or a hydraulic cylinder, etc., with vertical lifting capacity. The fixed end of the lifting unit 37 is connected to the main frame of the assembly vehicle 3, and the active rolling module 33 and the driven rolling module 35 are connected to the movable end of the lifting unit 37. By extending and retracting the lifting unit 37, the height of the engine 2 in the entire assembly vehicle 3 can be adjusted to adapt to the height requirements of different workstations and the connection height of the multi-degree-of-freedom AGV1. The active rolling module 33 includes a first arc-shaped housing and a drive motor fixed on the arc-shaped housing. The arc-shaped housing is connected to the main frame of the assembly vehicle 3. The output end of the drive motor is connected to a reducer, which is connected to a rotating disc. The rotating disc rotates circumferentially inside the arc-shaped housing under the drive of the drive motor. The rotating disk is connected to the low-vortex tooling 26 or directly to the rear interface of the engine 2, serving as the power input end for the rolling motion, providing torque to drive the engine 2 to rotate around its axis. Furthermore, the driven rolling module 35 serves as a follow-up support, specifically comprising a second arc-shaped housing and a driven rolling disk. The second arc-shaped housing is fixedly connected to the main frame of the assembly vehicle 3, and the driven rolling disk is rotatably connected within the second arc-shaped housing. When the active rolling module 33 drives the engine 2 to rotate, the driven rolling module 35 rotates accordingly, providing stable rotational support for the front end of the engine 2.

[0063] To secure the engine fan support pin 32 and facilitate subsequent docking with the multi-degree-of-freedom AGV1, an assembly vehicle support pin interface 31 is provided at one end of the engine 2 fan side of the assembly vehicle 3. Specifically, this includes a flip-down interface connector 315, which serves as the base of the interface and is fixed to the front end of the main frame of the assembly vehicle 3. The flip-down interface support pin cover 311 is a clamping component that can be flipped downwards and opened, with one end connected to the flip-down interface connector 315 via a hinge. In the clamped state, the flip-down interface support pin cover 311 is connected via a flip-down interface connecting bolt 312 and a flip-down interface anti-loosening washer 313, and is secured by a flip-down interface locking nut 314. Specifically, after the load-bearing pin 32 of engine 2 falls into the U-shaped groove of the flip-down interface connector 315, the flip-down interface load-bearing pin cover 311 is manually closed upwards, the flip-down interface connecting bolt 312 is inserted, the flip-down interface anti-loosening washer 313 is put on, and the flip-down interface locking nut 314 is tightened. At this time, the load-bearing pin 32 is firmly pressed between the flip-down interface connector 315 and the flip-down interface load-bearing pin cover 311, and the assembly vehicle 3 bears the load at the front end of engine 2. During the connection process, after the AGV fan load-bearing pin interface 17 of the multi-degree-of-freedom AGV1 closes and locks the load-bearing pin 32, the flip-down interface connecting bolt 312 and the flip-down interface locking nut 314 need to be manually removed, and the flip-down interface load-bearing pin cover 311 is flipped downwards. This action releases the constraint of the assembly vehicle 3 on the load-bearing pin 32, preparing for the transfer of the load of engine 2 to the multi-degree-of-freedom AGV1.

[0064] The low-vortex fixture 26 includes a low-vortex unit body with a low-vortex unit body connection hole 264 for connecting to the rear casing mounting edge of the engine low-vortex 28. Simultaneously, the low-vortex unit body connects to the driven roller plate via a driven rolling module connection hole 262. The low-vortex unit body also has a driven rolling module positioning pin hole 261 for positioning with the driven roller plate. Specifically, before docking, the assembly vehicle 3 is connected to the driven roller plate via the positioning pin hole 261. When the assembly vehicle 3 docks with the multi-degree-of-freedom AGV1, the low-vortex fixture 26 connects to the low-vortex unit body connection hole 264 via a locking pin; then, the locking pin of the driven rolling module positioning pin hole 261 is removed, releasing the connection between the engine 2 and the assembly vehicle 3, enabling rapid docking of the engine 2. The low-vortex unit body has a low-vortex flip interface positioning pin hole 263 for connecting to the low-vortex rotary interface 192.

[0065] The assembly vehicle 3 also includes a core machine lifting rod 34. One end of the core machine lifting rod 34 is connected to the main frame of the assembly vehicle 3, and the other end is connected to the core machine lifting point 27 on the top of the core machine 25, which is used to suspend the core machine 25 part during the assembly process.

[0066] The method for docking the entire machine using the above-mentioned floating engine-connected AGV system specifically includes the following steps:

[0067] Step 1: Engine 2 is assembled, and the lifting unit 37 and active rolling module 33 of the assembly vehicle 3 are reset. The multi-degree-of-freedom AGV1 moves to the designated position, ready to connect to engine 2.

[0068] Step 2: Disconnect the anti-loosening nut 176 and the upturn bolt 175 of the AGV fan bearing pin interface 17, and open the interface to its maximum opening.

[0069] Step 3: The assembly vehicle 3 lowers the engine 2 to the same height as the AGV fan support pin interface 17, and adjusts the engine fan support pin to move from the front of the AGV fan support pin interface 17 to directly above the interface.

[0070] Step 4: Connect the air flotation module 14. At this time, the air flotation module 14 is in the initial mode. Manually align the interface position and then tighten the AGV fan bearing pin interface 17.

[0071] Step 5: The assembly vehicle 3 is adjusted and lowered as a whole, pressing the multi-degree-of-freedom AGV1 so that the pressure sensor reading at the AGV fan bearing pin interface 17 reaches the specified value, ensuring that the load has been transferred to the multi-degree-of-freedom AGV1.

[0072] Step 6: After the sensor reading reaches the specified value, manually connect the low vortex flip interface 19 to the low vortex fixture 26 through the low vortex interface locking pin 194; then the assembly vehicle 3 slowly rises to bring the sensor reading back to zero.

[0073] Step 7: Disconnect the assembly vehicle's load-bearing pin interface 31 and low-vortex tilting interface 19 from the low-vortex tooling 26. Switch the air flotation module 14 to heavy-load mode.

[0074] Step 8: Assembly vehicle 3 rises as a whole, detaching from the main body of multi-degree-of-freedom AGV1. The air flotation module 14 is manually adjusted to reset, completing the docking of the entire machine.

[0075] The method for docking the fan core component using the above-mentioned floating engine docking AGV system specifically includes the following steps:

[0076] Step 1: Engine 2 is assembled, and the lifting unit 37 and active rolling module 33 of the assembly vehicle 3 are reset. The multi-degree-of-freedom AGV1 moves to the designated position, ready to connect to engine 2.

[0077] Step 2: Disconnect the anti-loosening nut 176 and the upturn bolt 175 of the AGV fan bearing pin interface 17, and open the interface to its maximum opening.

[0078] Step 3: The assembly vehicle 3 lowers the engine 2 to the same height as the AGV fan support pin interface 17, and adjusts the engine fan support pin to move from the front of the AGV fan support pin interface 17 to directly above the interface.

[0079] Step 4: Connect the air flotation module 14. At this time, the air flotation module 14 is in the initial mode. Manually align the interface position and then tighten the AGV fan bearing pin interface 17.

[0080] Step 5: The assembly vehicle 3 is adjusted and lowered as a whole, pressing the multi-degree-of-freedom AGV1 so that the pressure sensor reading at the AGV fan bearing pin interface 17 reaches the specified value, ensuring that the load has been transferred to the multi-degree-of-freedom AGV1.

[0081] Step Six: After the sensor reading reaches the specified value, the interstage housing flip-connector 182 and interstage housing fixture 24 are connected manually through the interstage housing interface locking pin 183; then the assembly vehicle 3 slowly rises, causing the sensor reading to return to zero.

[0082] Step 7: Disconnect the assembly vehicle's load-bearing pin interface 31 and the core machine lifting rod 34 from the tooling. Then, switch the air flotation module 14 to light-load mode.

[0083] Step 8: Assembly vehicle 3 rises as a whole, detaching from multi-degree-of-freedom AGV1. The air flotation module 14 is manually adjusted to reset, completing the docking of the fan core component.

Claims

1. A floating engine-connected AGV system, characterized in that, include: A multi-degree-of-freedom AGV (1) includes a chassis frame (13), a floating frame (15), and an air-float module (14) connected between the two. The air-float module (14) is used to drive the floating frame (15) to float relative to the chassis frame (13) to achieve fine-tuning of attitude. The air-float module (14) can switch between at least two working modes that provide different support buoyancy according to the size of the connected load. Multiple interfaces are provided on the floating frame (15) for selective connection to different components of the engine (2).

2. The floating engine docking AGV system according to claim 1, characterized in that: The chassis frame (13) adopts an omnidirectional wheel system layout, including multiple steering wheels (10) distributed at the four corners and multiple omnidirectional auxiliary wheels (11) distributed in the middle, so as to realize the omnidirectional movement of the multi-degree-of-freedom AGV (1).

3. The floating engine docking AGV system according to claim 1, characterized in that: The air flotation module (14) includes multiple air cushions (144) and a control valve group connected to the air cushions (144). The control valve group switches the working mode by changing the number of air cushions (144) connected to the working mode and / or the gas pressure introduced into the air cushions (144).

4. The floating engine docking AGV system according to claim 3, characterized in that: The operating modes include an initial mode for no-load or initial alignment, a light-load mode for connecting the fan core components, and a heavy-load mode for connecting the entire engine.

5. The floating engine docking AGV system according to claim 1, characterized in that: The plurality of interfaces include an AGV fan support pin interface (17), which has a contoured column (172) for avoiding the AGB assembly (21) of the engine.

6. A floating engine docking AGV system according to claim 5, characterized in that: The AGV fan load-bearing pin interface (17) also includes an inner upturn interface (177) and an outer upturn interface (174) that are arranged opposite to each other. The two can be closed and the load-bearing pin (32) of the engine can be locked by bolts.

7. A floating engine docking AGV system according to claim 1, characterized in that: The multiple interfaces also include an interstage casing flip interface (18) and / or a low-vortex flip interface (19), both of which are interfaces capable of flipping around a hinge and are detachably connected to the corresponding tooling (24, 26) via locking pins.

8. The floating engine docking AGV system according to claim 1, characterized in that: The system also includes an assembly vehicle (3), which is provided with an assembly vehicle load-bearing pin interface (31). The assembly vehicle load-bearing pin interface (31) includes a flip-down interface connector (315) and a flip-down interface load-bearing pin cover (311). The flip-down interface load-bearing pin cover (311) can be flipped down and opened to release the load-bearing pin (32) of the engine (2) to the multi-degree-of-freedom AGV (1) after the load is transferred.

9. A method for engine docking using the floating engine docking AGV system as described in any one of claims 1-8, characterized in that, Includes the following steps: Move the multi-degree-of-freedom AGV (1) to the docking position with the assembly vehicle (3) of the suspended engine (2); Connect the interface on the floating frame (15) to the corresponding component of the engine (2); Switch the air flotation module (14) to a working mode that matches the current connection conditions; Release the engine (2) from the assembly vehicle (3) to transfer the load of the engine (2) to the multi-degree-of-freedom AGV (1).

10. The method according to claim 9, characterized in that: The current connection conditions include heavy-load conditions for connecting the entire engine and light-load conditions for connecting the core fan components. Under heavy-load conditions, the air flotation module (14) switches to heavy-load mode; under light-load conditions, the air flotation module (14) switches to light-load mode.

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