Apparatus and method for automatic attitude adjustment and weighing of large helicopters

Abstract

This invention discloses a device and method for automatic attitude adjustment and weighing of large helicopters. The device includes a helicopter attitude measurement module, a helicopter lifting module, control lines, and a control terminal. The helicopter attitude measurement module is fixed to a fuselage attitude measurement block and is used to sense the current attitude of the fuselage and transmit the attitude data to the control terminal via the control lines. The helicopter lifting module is hydraulically driven and is used to lift the fuselage and adjust its attitude. Each set of equipment includes three helicopter lifting modules, placed at three lifting joints under the fuselage, and connected to the control terminal via control lines. This invention's device and method can quickly and conveniently achieve automatic attitude adjustment and weighing of large helicopters.

Description

Technical Field

[0001] This invention relates to, but is not limited to, the field of helicopter scheduled maintenance, and particularly to a device and method for automatic attitude adjustment and weighing of large helicopters. Background Technology

[0002] During helicopter maintenance, scheduled inspections, and modifications, tasks such as level measurement, overall aircraft weighing, center of gravity calculation, control adjustment, and installation of flight control attitude components all require adjusting the helicopter's overall attitude to a horizontal or specific angle. This process is mainly achieved by manually operating jacks in conjunction with angle measuring equipment. The preparation time is long, coordination is difficult, and there are certain safety risks. With the increasing variety of domestically produced large helicopters in recent years, these problems have become more prominent. To improve the safety of lifting the entire helicopter and increase work efficiency, it is necessary to develop specialized equipment for lifting the entire helicopter. Summary of the Invention

[0003] This invention provides a device and method for automatic attitude adjustment and weighing of large helicopters, in order to solve the problems of low safety and low work efficiency when lifting the entire helicopter.

[0004] The technical solution of this invention is as follows:

[0005] A device for automatic attitude adjustment and weighing of large helicopters includes a helicopter attitude measurement module 1, a helicopter lifting module 2, control lines 3, and a control terminal 4, wherein:

[0006] The helicopter attitude measurement module 1 is fixed on the fuselage attitude measurement block and is used to sense the current attitude of the fuselage and send the attitude data to the control terminal 4 through the control pipeline 3. The helicopter lifting module 2 is hydraulically driven and is used to lift the fuselage and adjust the attitude. Each set of equipment includes 3 helicopter lifting modules 2, which are placed at 3 lifting joints 201 below the fuselage 5. Each helicopter lifting module is equipped with a load measuring device 101 on top, which is connected to the control terminal 4 through the control pipeline 3. When adjusting the attitude and weighing, the load data sensed by the load measuring device 101 is transmitted to the control terminal 4 through the control pipeline 3.

[0007] The helicopter lifting module 2 also includes an adapter rod 102, an inner cylinder 103 of a hydraulic actuator, an outer cylinder 106 of a hydraulic actuator, a base 107, a three-position three-way hydraulic solenoid valve 108, a control pipeline interface 109, and a stop ring control motor 111. The outer cylinder 106 of the hydraulic actuator and the control pipeline interface 109 are fixed on the base 107. The three-position three-way hydraulic solenoid valve 108 is fixed on the base 107 and connected to the control pipeline interface 109 and the oil inlet of the outer cylinder 106 of the hydraulic actuator. The inner cylinder 103 of the hydraulic actuator is installed in the center of the outer cylinder 106 of the hydraulic actuator.

[0008] The top of the inner cylinder 103 of the hydraulic actuator is equipped with an adapter rod 102. The top of the adapter rod 102 is equipped with a load measuring device 101 and a displacement measuring connector 113. A linear displacement sensor 112 is installed above the housing of the stop ring control motor 111. The upper end of the displacement measuring line of the linear displacement sensor 112 is connected to the displacement measuring connector 113.

[0009] The load measuring device 101, the three-position three-way hydraulic solenoid valve 108, the stop ring control motor 111, and the linear displacement sensor 112 are all driven by 28V DC power and connected to the control pipeline interface 109 through the wiring harness 110, and then connected to the control terminal 4 through the control pipeline 3.

[0010] The outer wall of the inner cylinder 103 of the hydraulic actuator is a right-hand trapezoidal external thread, which is adapted to the right-hand trapezoidal internal thread of the stop ring 104. The outside of the stop ring 104 is a gear, which meshes with the drive gear of the stop ring control motor 111.

[0011] The fixed base 107 is equipped with wheels 105 for transporting the helicopter lifting module 2.

[0012] The adapter rod 102 can be replaced according to different machine models and different initial ground clearance of the lifting connector 201 to ensure that the inner cylinder 103 of the hydraulic actuator does not exceed the maximum lifting stroke.

[0013] The control terminal 4 includes a hydraulic system, a power interface, a device switch, and a touch display; the hydraulic system is located inside the housing of the control terminal 4; the inner cylinder 103 of the hydraulic actuator, the outer cylinder 106 of the hydraulic actuator, and the three-position three-way hydraulic solenoid valve 108 are fixed on the base 107.

[0014] The hydraulic system includes a hydraulic oil tank 301, a suction filter 302, an electric pump 303, an electric pump check valve 304, an accumulator 305, an electric pump control pressure relay 306, a flow limiting valve 307, a two-position four-way solenoid valve 308, a safety valve 309, a return filter 310, and a return filter safety valve 311. The electric pump 303 is connected to the hydraulic oil tank 301 via the suction filter 302. The other end of the electric pump 303 is connected to the accumulator 305 via the electric pump check valve 304. The accumulator 305 is connected to the booster port of the two-position four-way solenoid valve 308, the electric pump control pressure relay 306, and the safety valve 309. The other end of the safety valve 309 is connected to the return filter 310 and the return filter safety valve 311. The return filter 310 and the return filter safety valve 311 are also connected to the return port of the two-position four-way solenoid valve 308 and the hydraulic oil tank 301.

[0015] A method for attitude adjustment and weighing of large helicopters, comprising:

[0016] Step 1: Install the helicopter attitude measurement module 1 and the helicopter lifting module 2 on the aircraft, and lift the helicopter to a horizontal position with the wheels off the ground;

[0017] Step 2: After the machine body is leveled and the wheels are off the ground, select the whole machine weighing on the touch screen. The load data sensed by the load measuring device 101 will be automatically added together to form the whole machine weight and recorded.

[0018] Step 3: Continue to select center of gravity calculation on the touch display. The device will automatically adjust the extension length of the inner cylinder 103 of the hydraulic actuator according to the preset measurement posture of the model, and compare the posture data sensed by the helicopter posture measurement module 1 in real time.

[0019] Step 4: After the attitude requirements are met, the three-position three-way hydraulic solenoid valve 108 of the helicopter lifting module switches to the middle position, and the two-position four-way solenoid valve 308 switches to the right position. After stabilizing the fuselage, the load data sensed by the three load measuring devices 101 will automatically calculate and record the center of gravity position under this attitude based on the current data.

[0020] Step 5: After all attitude measurements are completed, the fuselage attitude is restored to the initial leveled state and the wheels are off the ground. The touch screen displays all the weighing and center of gravity calculation results.

[0021] This invention provides a device for automatic attitude adjustment and weighing of large helicopters. It automatically adjusts the helicopter's attitude to a horizontal or specific orientation on the ground and automatically calculates the helicopter's center of gravity. The advantages of this application are: it allows for rapid adjustment and maintenance of specific helicopter attitudes by 1-2 operators, effectively coordinating important processes such as horizontal measurement, overall weighing, center of gravity calculation, control adjustment, and installation of flight control attitude components, thereby improving overall work efficiency and ensuring work safety. Attached Figure Description

[0022] The accompanying drawings are provided to further understand the technical solutions of the present invention and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of the present invention and do not constitute a limitation on the technical solutions of the present invention.

[0023] Figure 1 A general drawing of a device for automatic attitude adjustment and weighing of a large helicopter provided by the present invention;

[0024] Figure 2 This is a schematic diagram of the helicopter lifting module provided by the present invention;

[0025] Figure 3 This is a schematic diagram of the placement of the helicopter lifting module provided by the present invention;

[0026] Figure 4 A schematic diagram of the hydraulic system provided for this invention.

[0027] Among them, 1-Helicopter attitude measurement module, 2-Helicopter lifting module, 3-Control pipeline, 4-Control terminal, 5-Fuselage, 101-Load measuring device, 102-Adapter rod, 103-Inner cylinder of hydraulic actuator, 104-Stop ring, 105-Wheel, 106-Outer cylinder of hydraulic actuator, 107-Base, 108-Three-position three-way hydraulic solenoid valve, 109-Control pipeline interface, 110-Wire harness, 111-Stop ring control motor, 112-Linear displacement sensor, 113-Displacement measuring connector, 201-Lifting connector, 301-Hydraulic oil tank, 302-Suction filter, 303-Electric pump, 304-Electric pump check valve, 305-Accumulator, 306-Electric pump control pressure relay, 307-Flow limiting valve, 308-Two-position four-way solenoid valve, 309-Safety valve, 310-Return oil filter, 311-Return oil filter safety valve. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

[0029] Example 1

[0030] like Figure 1 As shown, this application provides a device for automatic attitude adjustment and weighing of large helicopters, including a helicopter attitude measurement module 1, a helicopter lifting module 2, control lines 3, and a control terminal 4, wherein:

[0031] like Figure 3 As shown: The helicopter attitude measurement module 1 is fixed on the fuselage attitude measurement block and is used to sense the current attitude of the fuselage and send the attitude data to the control terminal 4 through the control pipeline 3; the helicopter lifting module 2 is hydraulically driven and is used to lift the fuselage and adjust the attitude. Each set of equipment contains 3 helicopter lifting modules 2, which are placed at 3 lifting joints 201 below the fuselage 5 and connected to the control terminal 4 through the control pipeline 3.

[0032] Specifically, such as Figure 2As shown: The helicopter lifting module 2 includes a load measuring device 101, an adapter rod 102, an inner cylinder of a hydraulic actuator 103, a stop ring 104, wheels 105, an outer cylinder of a hydraulic actuator 106, a base 107, a three-position three-way hydraulic solenoid valve 108, a control pipeline interface 109, a wiring harness 110, a stop ring control motor 111, a linear displacement sensor 112, and a displacement measuring connector 113. The outer cylinder of the hydraulic actuator 106 and the control pipeline interface 109 are fixed to the base 107. The three-position three-way hydraulic solenoid valve 108 is fixed to the base 107 and connected to the control pipeline interface 109 and the oil inlet of the outer cylinder of the hydraulic actuator 106. The wheels 105 are fixed to the base. The 107 is used for transporting the helicopter lifting module 2; the inner cylinder 103 of the hydraulic actuator is installed in the center of the outer cylinder 106 of the hydraulic actuator; the outer wall of the inner cylinder 103 of the hydraulic actuator has a right-hand trapezoidal external thread, which can be adapted to the right-hand trapezoidal internal thread of the stop ring 104; the outside of the stop ring 104 is a gear, which meshes with the drive gear of the stop ring control motor 111; an adapter rod 102 is installed on the top of the inner cylinder 103 of the hydraulic actuator; a load measuring device 101 and a displacement measuring connector 113 are installed on the top of the adapter rod 102; a linear displacement sensor 112 is installed on the top of the housing of the stop ring control motor 111; the upper end of the displacement measuring line of the linear displacement sensor 112 is connected to the displacement measuring connector 113.

[0033] Preferably, the load measuring device 101, the three-position three-way hydraulic solenoid valve 108, the stop ring control motor 111, and the linear displacement sensor 112 are all driven by 28V DC power and connected to the control pipeline interface 109 through the wiring harness 110, and then connected to the control terminal 4 through the control pipeline 3.

[0034] Preferably, the inner cylinder 103 of the hydraulic actuator is hydraulically driven, with a maximum lifting stroke of 500mm and a maximum lifting weight of 15 tons.

[0035] Preferably, the adapter rod 102 can be replaced according to different machine models and different initial ground clearance of the lifting joint 201 to ensure that the inner cylinder 103 of the hydraulic actuator does not exceed the maximum lifting stroke.

[0036] Specifically, such as Figure 4 As shown, the control terminal 4 includes a hydraulic system, a power interface, a device switch, and a touch display; the hydraulic system consists of a hydraulic oil tank 301, a suction filter 302, an electric pump 303, an electric pump check valve 304, an accumulator 305, an electric pump control pressure relay 306, a flow limiting valve 307, a two-position four-way solenoid valve 308, a safety valve 309, a return oil filter 310, and a return oil filter safety valve 311, and is fixed inside the housing of the control terminal 4; the hydraulic actuator inner cylinder 103, the hydraulic actuator outer cylinder 106, and the three-position three-way hydraulic solenoid valve 108 are fixed on the base 107.

[0037] Specifically, in the hydraulic system, the electric pump 303 is connected to the hydraulic oil tank 301 through the suction filter 302. The other end of the electric pump 303 is connected to the accumulator 305 through the electric pump check valve 304. The accumulator 305 is connected to the booster port of the two-position four-way solenoid valve 308, the electric pump control pressure relay 306, and the safety valve 309. The other end of the safety valve 309 is connected to the return oil filter 310 and the return oil filter safety valve 311. The return oil filter 310 and the return oil filter safety valve 311 are also connected to the return oil port of the two-position four-way solenoid valve 308 and the hydraulic oil tank 301.

[0038] Specifically, the maximum measurement value of the load measuring device 101 is 18000Kg, with an accuracy of 0.1Kg.

[0039] Example 2

[0040] This application provides a method for leveling the fuselage of a large helicopter, taking the case where the wheels do not need to leave the ground as an example. The method includes:

[0041] Step 1: Confirm that the helicopter is in a flat indoor environment, and fix the helicopter attitude measurement module 1 to the fuselage attitude reference block;

[0042] Step 2: After selecting the appropriate adapter rod 102 for the three helicopter lifting modules 2, place the three helicopter lifting modules 2 directly below the lifting connector 201.

[0043] Step 3: Connect the control line 3 to the three helicopter lifting modules 2, the helicopter attitude measurement module 1 and the control terminal 4 respectively, and connect the control terminal 4 to the equipment with a 28V DC power supply;

[0044] Step 4: Press the equipment switch to start the equipment and enter the equipment self-test. At the same time, the electric pump 303 starts to pressurize the hydraulic oil in the accumulator to 20Mpa and then stops.

[0045] Step 5: After the self-test is completed, set the placement positions of the three helicopter lifting modules 2 on the touch screen operation interface, select the lifting contact on the touch screen operation interface, and energize the two-position four-way solenoid valve 308 to switch to the left position.

[0046] Step 6: The system pressure enters the helicopter lifting module 2 through the control line 3, enters the outer cylinder 106 of the hydraulic actuator cylinder through the three-position three-way hydraulic solenoid valve 108, and pushes the inner cylinder 103 of the hydraulic actuator cylinder upward, and then pushes the load measuring device 101 upward until it contacts the lifting joint 201.

[0047] Step 7: When the load measuring device 101 measures a load of 1 kg, the three-position three-way hydraulic solenoid valve 108 of the corresponding helicopter lifting module 2 switches to the left position to fix the inner cylinder 103 of the hydraulic actuator on the current helicopter lifting module 2. After all three helicopter lifting modules 2 are in contact, the touch screen operation interface displays that the lifting contact is complete. The operator checks the contact and alignment of the load measuring device 101 and the lifting connector 201, and fine-tunes the position of the corresponding helicopter lifting module 2 if necessary. After verification, the operator selects fuselage leveling on the touch panel. The three helicopter lifting modules 2 simultaneously lift upwards by 100mm. Then, based on the attitude data sensed by the helicopter attitude measurement module 1, the hydraulic actuator inner cylinder 103 on the corresponding helicopter lifting module 2 is automatically adjusted. The adjustment sequence is to first adjust the fuselage lateral level, then adjust the fuselage longitudinal level. After leveling, the three-position three-way hydraulic solenoid valve 108 of the three helicopter lifting modules switches to the middle position, and the two-position four-way solenoid valve 308 switches to the right position. The stop ring controls the motor 111 to rotate, further driving the stop ring 104 to fit against the upper end face of the hydraulic actuator outer cylinder 106, locking the current extension length of the hydraulic actuator inner cylinder 103. The touch display shows that fuselage leveling is complete.

[0048] It should be noted that the equipment is disassembled after the required work is completed. Specifically, select "grounding" on the touch screen display. Switch the three-position three-way hydraulic solenoid valve 108 of the three helicopter lifting modules to the right position and the two-position four-way solenoid valve 308 to the left position. Under the weight of the fuselage, the hydraulic oil in the inner cylinder 103 of the hydraulic actuator returns to the hydraulic oil tank through the return oil line. When the load data of the three load measuring devices 101 is 0, switch the three-position three-way hydraulic solenoid valve 108 of the three helicopter lifting modules to the middle position and the two-position four-way solenoid valve 308 to the right position. The operator can then remove the three helicopter lifting modules from under the fuselage.

[0049] Example 3

[0050] This application, taking the case of the wheels being off the ground as an example, provides a method for automatic attitude adjustment of a large helicopter, including:

[0051] Step 1: Confirm that the helicopter is in a flat indoor environment, correctly install the helicopter attitude measurement module 1 and 3 helicopter lifting modules 2 on the helicopter, power the equipment and complete the self-test.

[0052] Step 2: First, follow the machine leveling procedure where the wheels do not need to leave the ground. When the touch screen displays that the machine leveling is complete, select to enter the leveling procedure where the wheels leave the ground. The inner cylinders 103 of the three hydraulic actuators will extend synchronously until the load data sensed by the load measuring device 101 no longer increases. Then, the inner cylinders 103 of the three hydraulic actuators will extend synchronously by 100mm.

[0053] Step 2: Based on the attitude data sensed by the helicopter attitude measurement module 1, automatically adjust the inner cylinder 103 of the hydraulic actuator cylinder on the corresponding helicopter lifting module 2. The adjustment sequence is to first adjust the fuselage lateral level, then adjust the fuselage longitudinal level. After leveling, the three-position three-way hydraulic solenoid valves 108 of the three helicopter lifting modules switch to the middle position, and the two-position four-way solenoid valves 308 switch to the right position. The stop ring controls the motor 111 to rotate, further driving the stop ring 104 to fit against the upper end face of the outer cylinder 106 of the hydraulic actuator cylinder, locking the current extension length of the inner cylinder 103 of the hydraulic actuator cylinder. The touch screen operation interface displays that the fuselage leveling is complete and the wheels are off the ground.

[0054] It should be noted that the equipment is disassembled after the required work is completed. Specifically, select "grounding" on the touch screen display. Switch the three-position three-way hydraulic solenoid valve 108 of the three helicopter lifting modules to the right position and the two-position four-way solenoid valve 308 to the left position. Under the weight of the fuselage, the hydraulic oil in the inner cylinder 103 of the hydraulic actuator returns to the hydraulic oil tank through the return oil line. When the load data of the three load measuring devices 101 is 0, switch the three-position three-way hydraulic solenoid valve 108 of the three helicopter lifting modules to the middle position and the two-position four-way solenoid valve 308 to the right position. The operator can then remove the three helicopter lifting modules from under the fuselage.

[0055] It should be noted that the equipment is disassembled after the required work is completed. Specifically, select "grounding" on the touch screen display. Switch the three-position three-way hydraulic solenoid valve 108 of the three helicopter lifting modules to the right position and the two-position four-way solenoid valve 308 to the left position. Under the weight of the fuselage, the hydraulic oil in the inner cylinder 103 of the hydraulic actuator returns to the hydraulic oil tank through the return oil line. When the load data of the three load measuring devices 101 is 0, switch the three-position three-way hydraulic solenoid valve 108 of the three helicopter lifting modules to the middle position and the two-position four-way solenoid valve 308 to the right position. The operator can then remove the three helicopter lifting modules from under the fuselage.

[0056] Example 4

[0057] This application, taking the whole-aircraft weighing and center of gravity calculation as an example, provides a method for automatic attitude adjustment and weighing of large helicopters, including:

[0058] Step 1: Confirm that the helicopter is in a flat indoor environment, correctly install the helicopter attitude measurement module 1 and 3 helicopter lifting modules 2 on the helicopter, power the equipment and complete the self-test, and operate the equipment to lift the helicopter to a horizontal state with the wheels off the ground.

[0059] Step 2: After the fuselage is leveled and the wheels are off the ground, select "whole aircraft weighing" on the touch screen. The load data sensed by the three load measuring devices 101 will be automatically added together to obtain the total weight of the aircraft and recorded. Continue to select "center of gravity calculation" on the touch screen. The equipment will automatically adjust the extension length of the inner cylinder 103 of the hydraulic actuator according to the preset measurement posture of the model. The posture data sensed by the helicopter posture measurement module 1 will be compared in real time. After the posture requirements are met, the three-position three-way hydraulic solenoid valves 108 of the three helicopter lifting modules will switch to the middle position, and the two-position four-way solenoid valves 308 will switch to the right position. The equipment will stabilize the fuselage for 30 seconds. After 30 seconds, the load data sensed by the three load measuring devices 101 will be automatically calculated according to the current data to determine the center of gravity position under this posture and recorded. After all posture measurements are completed, the fuselage posture will return to the initial leveled state and the wheels will be off the ground. The touch screen will display all weighing and center of gravity calculation results.

[0060] It should be noted that the equipment is disassembled after the required work is completed. Specifically, select "grounding" on the touch screen display. Switch the three-position three-way hydraulic solenoid valve 108 of the three helicopter lifting modules to the right position and the two-position four-way solenoid valve 308 to the left position. Under the weight of the fuselage, the hydraulic oil in the inner cylinder 103 of the hydraulic actuator returns to the hydraulic oil tank through the return oil line. When the load data of the three load measuring devices 101 is 0, switch the three-position three-way hydraulic solenoid valve 108 of the three helicopter lifting modules to the middle position and the two-position four-way solenoid valve 308 to the right position. The operator can then remove the three helicopter lifting modules from under the fuselage.

[0061] While the embodiments disclosed in this invention are as described above, they are merely illustrative of the embodiments to facilitate understanding of the invention and are not intended to limit the invention. Any person skilled in the art to which this invention pertains may make any modifications and variations in the form and details of the implementation without departing from the spirit and scope disclosed herein; however, the scope of patent protection for this invention shall still be determined by the scope defined in the appended claims.

Claims

1. An apparatus for automatic attitude adjustment and weighing of large helicopters, characterized in that, Includes a helicopter attitude measurement module, a helicopter lifting module, control pipelines, and a control terminal, among which: The helicopter attitude measurement module is fixed to the fuselage attitude measurement block and is used to sense the current attitude of the fuselage and transmit the attitude data to the control terminal through the control pipeline. The helicopter lifting module is hydraulically driven and is used to lift the fuselage and adjust the attitude. Each set of equipment contains three helicopter lifting modules, which are placed at three lifting joints under the fuselage. Each helicopter lifting module is equipped with a load measuring device on its top, which is connected to the control terminal through the control pipeline. During attitude adjustment and weighing, the load data sensed by the load measuring device is transmitted to the control terminal through the control pipeline. The helicopter lifting module also includes an adapter rod, an inner cylinder of a hydraulic actuator, an outer cylinder of a hydraulic actuator, a base, a three-position three-way hydraulic solenoid valve, a control pipeline interface, and a stop ring control. The device comprises a hydraulic actuator, an outer cylinder and a control pipeline interface, all fixed to a base. A three-position, three-way hydraulic solenoid valve is fixed to the base and connected to the control pipeline interface and the oil inlet of the outer cylinder. The inner cylinder is installed in the center of the outer cylinder. An adapter rod is mounted on the top of the inner cylinder, and a load measuring device and a displacement measuring connector are mounted on the top of the adapter rod. A linear displacement sensor is mounted above the housing of the stop ring control motor, and the upper end of the displacement measuring line of the linear displacement sensor is connected to the displacement measuring connector. The outer wall of the inner cylinder has a right-hand trapezoidal external thread, which matches the right-hand trapezoidal internal thread of the stop ring. The outside of the stop ring is a gear that meshes with the drive gear of the stop ring control motor.

2. The device according to claim 1, characterized in that, The load measuring device, three-position three-way hydraulic solenoid valve, stop ring control motor, and linear displacement sensor are all driven by 28V DC and connected to the control pipeline interface via wiring harness, and then connected to the control terminal via control pipeline.

3. The device according to claim 2, characterized in that, The fixed base is equipped with wheels for transporting the helicopter lifting module.

4. The device according to claim 3, characterized in that, The adapter rod can be replaced according to different machine models and different initial ground clearance jacking joints to ensure that the inner cylinder of the hydraulic actuator does not exceed the maximum jacking stroke.

5. The device according to claim 1, characterized in that, The control terminal includes a hydraulic system, a power interface, a device switch, and a touch display; the hydraulic system is housed within the control terminal housing; the inner cylinder of the hydraulic actuator, the outer cylinder of the hydraulic actuator, and the three-position three-way hydraulic solenoid valve are fixed on the base.

6. The device according to claim 5, characterized in that, The hydraulic system includes a hydraulic tank, a suction filter, an electric pump, an electric pump check valve, an accumulator, an electric pump control pressure relay, a flow limiting valve, a two-position four-way solenoid valve, a safety valve, a return filter, and a return filter safety valve. The electric pump is connected to the hydraulic tank via the suction filter, and the other end of the electric pump is connected to the accumulator via the electric pump check valve. The accumulator is connected to the booster port of the two-position four-way solenoid valve, the electric pump control pressure relay, and the safety valve. The other end of the safety valve is connected to the return filter and the return filter safety valve. The return filter and the return filter safety valve are also connected to the return port of the two-position four-way solenoid valve and the hydraulic tank.

7. A method for weighing and adjusting the attitude of a large helicopter, characterized in that, The method is applied to a device for automatic attitude adjustment and weighing of a large helicopter as described in any one of claims 1 to 6, and the method includes: Step 1: Install the helicopter attitude measurement module and lifting module on the aircraft, and lift the helicopter to a horizontal position with the wheels off the ground; Step 2: After the machine body is leveled and the wheels are off the ground, select the whole machine weighing on the touch screen. The load data sensed by the load measuring device will be automatically added together to form the whole machine weight and recorded. Step 3: Continue to select center of gravity calculation on the touch display. The device will automatically adjust the extension length of the inner cylinder of the hydraulic actuator according to the preset measurement posture of the model, and compare the posture data sensed by the helicopter posture measurement module in real time. Step 4: After the attitude requirements are met, the three-position three-way hydraulic solenoid valve of the lifting module is switched to the middle position, and the two-position four-way solenoid valve is switched to the right position. After stabilizing the machine, the load data sensed by the three load measuring devices will automatically calculate and record the center of gravity position under this attitude based on the current data. Step 5: After all attitude measurements are completed, the fuselage attitude is restored to the initial leveled state and the wheels are off the ground. The touch screen displays all the weighing and center of gravity calculation results.

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