Wing transportation device and equipment

Abstract

The utility model belongs to a transportation device, and provides a wing transportation device and equipment aiming at the technical problems that an existing aircraft wing nacelle part transportation method needs to additionally use a crane, the cooperative operation requirement is high, and the transportation efficiency is low, the wing transportation device and equipment are provided, and the wing transportation device comprises a wing supporting beam, a supporting platform and an AGV (Automatic Guided Vehicle); a supporting bracket and at least two three-way moving devices are installed on the supporting platform, and wing supporting beams are arranged at the output ends of the three-way moving devices and used for stretching across wings to support the wings; four telescopic pull rods are hinged to the supporting platform, the output ends of the telescopic pull rods are used for being connected with wing body connectors on wing nacelle components, and the four telescopic pull rods are located at the four corners of a rectangle respectively; the supporting bracket is located among the four telescopic pull rods, and the three-direction moving device is located outside the four telescopic pull rods. The AGV transport vehicle is used for moving the supporting platform when the transport task is executed.

Description

Technical Field

[0001] This application belongs to a transportation device, and specifically relates to a wing transportation device and equipment. Background Art

[0002] After the assembly of some aircraft wing nacelle components is completed, they need to be transported from the component assembly station to the final assembly station. Currently, there are two transportation methods. The first is to perform full-process hoisting through the cooperation of a crane and a suspension, and the second is to install the wing nacelle components on a customized transportation tooling, and then transport the wing nacelle components by manually towing or pushing the transportation tooling.

[0003] The first method has a high risk of safety hazards. In addition, the first method is only applicable when the moving path of the crane is consistent with the transportation path of the wing nacelle components. If there is no crane track in the transportation path of the wing nacelle components, this method cannot be applied; the second method has technical problems such as low transportation efficiency, poor consistency in multi-person collaborative operation, and high demand for human resources. Summary of the Invention

[0004] In view of the technical problems that the existing transportation methods for aircraft wing nacelle components require additional use of a crane, high requirements for collaborative operation, and low transportation efficiency, this application provides a wing transportation device and equipment.

[0005] To achieve the above object, this application adopts the following technical solutions:

[0006] In a first aspect, this application provides a wing transportation device, including a wing support beam, a support platform, and an AGV transport vehicle;

[0007] A support bracket and at least two three-way moving devices are installed on the support platform. The output end of the three-way moving device is provided with a wing support beam for spanning the wing to support the wing; four telescopic tie rods are hinged on the support platform, and the output ends of the telescopic tie rods are used to connect the upper fuselage joints on the wing nacelle components. The four telescopic tie rods are respectively located at the four corners of a rectangle; the support bracket is located between the four telescopic tie rods, and the three-way moving device is located outside the four telescopic tie rods;

[0008] The AGV transport vehicle is used to move the support platform when performing transportation tasks.

[0009] Further, the wing support beam includes a support beam body provided at the output end of the three-way moving device;

[0010] A support plate and two flexible plates are provided on the support beam body. The two flexible plates are respectively located at both ends of the support beam body, and the support plate is located at the center between the two flexible plates;

[0011] The support plate is used to connect the wing nacelle components;

[0012] Both of the flexible plates are inclined, and the inclined shapes are consistent with the wing shape.

[0013] Furthermore, a support beam handle and a lifting ring are also provided on the support beam body.

[0014] Furthermore, the telescopic pull rod includes a first connecting rod and a second connecting rod;

[0015] One end of the first connecting rod and one end of the second connecting rod are connected by a sleeve;

[0016] The other end of the first connecting rod is hinged with a first latch, and the first latch is used to connect the wing-body joint on the wing nacelle component; the other end of the second connecting rod is hinged with a second latch, and the second latch is connected to the support platform.

[0017] Furthermore, a sleeve handle is installed on the sleeve.

[0018] Furthermore, the three-way moving device includes an X-direction driving unit, a Y-direction driving unit, and a Z-direction driving unit;

[0019] The Y-direction driving unit is installed on the output end of the X-direction driving unit, the Z-direction driving unit is installed on the output end of the Y-direction driving unit, and the wing support beam is installed on the output end of the Z-direction driving unit. The X-direction, Y-direction, and Z-direction respectively correspond to the positive directions of the three axes of the space rectangular coordinate system.

[0020] Furthermore, a first limiting member and a second limiting member are also included;

[0021] The X-direction driving unit includes an X-direction driving component and an X-direction guide rail; the Y-direction driving unit includes a Y-direction driving component and a Y-direction guide rail;

[0022] The Y-direction guide rail is installed on the X-direction guide rail and on the output end of the X-direction driving component. The first limiting member is used to limit the driving displacement of the X-direction driving component;

[0023] The Z-direction driving unit is installed on the Y-direction guide rail and on the output end of the Y-direction driving component. The second limiting member is used to limit the driving displacement of the Y-direction driving component.

[0024] Furthermore, the flexible plate is a rubber plate.

[0025] Furthermore, the support beam body is locked with the output end of the Z-direction driving unit through a support ball head.

[0026] In a second aspect, the present application provides a wing transportation device, including a controller; and further including the above-mentioned wing transportation device;

[0027] The controller is connected to the AGV transport vehicle and is used to control the operation of the AGV transport vehicle; alternatively, the controller is respectively connected to the AGV transport vehicle and the three-way moving device, and is used to control the operation of the AGV transport vehicle and the three-way moving device.

[0028] Compared with the prior art, the present application has the following beneficial effects:

[0029] The present application provides a wing transport device, including a wing support beam, a support platform and an AGV transport vehicle. With the combination of the wing support beam, the support platform and the AGV transport vehicle, the wing support beam can accurately locate the support position of the wing in cooperation with the three-way moving device, the support bracket can assist in supporting the wing, and the telescopic pull rod can cooperate to adjust the attitude of supporting the wing. The wing transport device of the present application not only protects the transported product and prevents damage to the wing nacelle components during transportation, but also realizes unmanned full-automatic transportation, thereby improving transportation efficiency and reducing human resource costs. In addition, the three-way moving device and the telescopic pull rod on the support platform of the present application have a flexible adjustment function and can install wing nacelle components of different specifications, making the present application have high versatility and economy. It solves the technical problems of low transportation efficiency, the need for multiple people to cooperate in operation, poor consistency and a large amount of human resources required for manually towing or pushing the wing nacelle components, improves transportation efficiency, and reduces human resource costs.

[0030] The present application also provides a wing transport equipment, which has all the advantages of the above wing transport device. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without creative efforts.

[0032] Figure 1 An axonometric view of using the wing transport device of the present application to support the wing;

[0033] Figure 2 For Figure 1 front view;

[0034] Figure 3 A schematic diagram of the wing nacelle component in the embodiment of the present application;

[0035] Figure 4 A schematic structural diagram of the wing transport device in the embodiment of the present application;

[0036] Figure 5Schematic structural diagram of the support platform in the embodiments of the present application;

[0037] Figure 6 Schematic structural diagram of a wing support beam in the embodiments of the present application;

[0038] Figure 7 is Figure 6 front view of;

[0039] Figure 8 Schematic diagram of an AGV transport vehicle in the embodiments of the present application;

[0040] Figure 9 Schematic structural diagram of a telescopic pull rod in the embodiments of the present application;

[0041] Figure 10 Schematic structural diagram of a three-way moving device in the embodiments of the present application.

[0042] Wherein: 1-wing nacelle component, 2-wing support beam, 3-support platform, 4-AGV transport vehicle, 5-integral frame, 6-support bracket, 7-telescopic pull rod, 8-three-way moving device, 9-support beam body, 10-support beam handle, 11-flexible plate, 12-support ball head, 13-lifting ring, 14-support plate, 15-bolt hole, 16-first connecting rod, 17-second connecting rod, 18-first lock, 19-second lock, 20-upper hinge joint on the integral frame, 21-sleeve, 22-sleeve handle, 23-slide rail, 24-first handwheel, 25-second handwheel, 26-third handwheel, 27-first limiting member, 28-second limiting member, 29-wing nacelle component upper wing-body joint. Detailed implementation manners

[0043] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Usually, the components of the embodiments of the present application described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0044] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application claimed, but merely represents the selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0045] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0046] In the description of the embodiments of the present application, it should be noted that if terms such as "upper", "lower", "horizontal", "inner", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the inventive product is usually placed during use. This is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application. In addition, terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be construed as indicating or implying relative importance.

[0047] In addition, if the term "horizontal" appears, it does not mean that the component is required to be absolutely horizontal, but it can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but it can be slightly inclined.

[0048] In the description of the embodiments of the present application, it should also be noted that unless otherwise clearly specified and limited, if terms such as "set", "installed", "connected", "linked" are used, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0049] The wing nacelle component 1 is an important part of the aircraft propulsion system. It is a streamlined component installed under the wing, used to house the engine, can also optimize the aerodynamic performance of the aircraft, and provide intake and exhaust channels and protection for the engine. It usually includes components such as an air intake, a fan cowl, a thrust reverser, and an exhaust nozzle. During the aircraft manufacturing process, the installation of the wing nacelle component 1 is a key link. Once the assembly is completed, it needs to be safely and accurately transported to the general assembly station for further assembly and integration.

[0050] However, there are usually the following problems in the transportation of the wing nacelle component 1, and relevant transportation devices are needed to complete it:

[0051] (1) The wing nacelle component 1 is usually large in volume and heavy in weight.

[0052] (2) The shape and structure of the wing nacelle component 1 are complex;

[0053] (3) High requirements are imposed on the safety and stability during transportation.

[0054] Based on the above problems, the present application proposes a wing transportation device and equipment, and the present application is described in detail below in conjunction with embodiments and drawings.

[0055] As an embodiment of a wing transport device of the present application, it may include a wing support beam 2, a support platform 3 and an AGV transport vehicle 4.

[0056] A support bracket 6 and at least two three-way moving devices 8 are installed on the support platform 3. A wing support beam 2 is provided on the output end of the three-way moving device 8 to support the wing across the wing. It should be noted that the wing support beam 2 is used to support the wing during transportation. In practical applications, the three directions in the three-way moving device 8 usually refer to the three directions that coincide with the three coordinate axes of the spatial rectangular coordinate system. The three-way moving device 8 can drive the wing to perform linear motion in three directions. The specific structural form of the three-way moving device 8 can be selected according to the needs of use, and this application does not impose any restrictions, as long as it can drive linear motion along three directions.

[0057] Four retractable tie rods 7 are hinged on the support platform 3, and the output ends of the retractable tie rods 7 are used to connect to the wing-body joint 29 on the wing nacelle component, and the four retractable tie rods 7 are respectively located at the four corners of the rectangle. It should be noted that the function of the retractable tie rods 7 is to connect to the wing-body joint 29 on the wing nacelle component, and the number of the retractable tie rods 7 is adapted to the wing-body joint 29 on the wing nacelle component. The specific structure of the retractable tie rods 7 is not limited, as long as it can be retracted, and the driving method of the retracting is not limited.

[0058] The support bracket 6 is located between the four telescopic rods 7, and the three-way moving device 8 is located outside the four telescopic rods 7. It should be noted that, firstly, the middle part of the wing can be supported by the support bracket 6. In addition, through the mutual coordination of the positions of the support bracket 6, the telescopic rods 7 and the three-way moving device 8, the wing can be lifted stably and safely, and the support position can be roughly and finely adjusted, and the stability and safety during transportation can be guaranteed.

[0059] like Figure 8 The figure shows a schematic diagram of an AGV transport vehicle 4. The AGV transport vehicle 4 is used to move the support platform 3 when performing a transport task. It should be noted that the AGV transport vehicle 4, which stands for Automated Guided Vehicle, is a transport vehicle equipped with an electromagnetic or optical automatic guidance device, capable of traveling along a prescribed guidance path, and having safety protection and various transfer functions. The present application can use the AGV transport vehicle 4 to move the support platform 3 as a whole along a predetermined route to complete the transport.

[0060] The AGV transport vehicle 4 is a fully unmanned intelligent handling device with an omnidirectional driving function, capable of realizing the moving function in any direction within a two-dimensional plane, including omnidirectional moving forms such as straight driving, transverse driving, diagonal driving, and zero turning radius rotation, and also has a lifting function. In addition, the AGV transport vehicle 4 can also have a manual remote control function and an automatic tracing function, which can realize the fixation of the transport path, and even can have dual-vehicle linkage with the precision controlled to ±5 mm. As another embodiment of a wing transport device of the present application, it may include a wing support beam, a support platform, and an AGV transport vehicle.

[0061] As Figure 1 shown, it is an axonometric view of using the wing transport device of the present application to support the wing. Figure 2 is Figure 1 the front view of. Figure 1 and Figure 2 show the overall structural relationship when the wing transport device of the present application supports the wing. As Figure 3 shown, it is a schematic diagram of the nacelle component of the wing. There are two upper wing-body joints 29 of the nacelle component of the wing in front of the nacelle component of the wing. Correspondingly, there are also two upper wing-body joints 29 of the nacelle component of the wing behind the nacelle component of the wing, with a total of four.

[0062] As Figure 4 shown, it is a structural schematic diagram of the wing transport device in this embodiment. A support bracket 6 and four three-way moving devices 8 are installed on the support platform 3. The positions of the four three-way moving devices 8 together form a rectangle, making the structure more stable. Every two three-way moving devices 8 are located on one side of the wing. A wing support beam 2 is provided at the output ends of the two three-way moving devices 8 located on one side. During transportation, the wing support beam 2 spans under the wing to support the wing. Four telescopic tie rods 7 are hinged on the support platform 3. The output ends of the four telescopic tie rods 7 are respectively connected to the upper wing-body joints 29 of the nacelle component of the wing. The four telescopic tie rods 7 are respectively located at the four corners of the rectangle. The support bracket 6 is located in the middle of the four telescopic tie rods 7, and the four three-way moving devices 8 are located outside the four telescopic tie rods 7. When the AGV transport vehicle 4 performs a transportation task, it moves under the support platform 3 and can lift the support platform 3 and perform the required movement.

[0063] In some embodiments of the present application, the structure of the support platform 3 can be a hollow frame structure, with support legs provided at the bottom, leaving a gap between the hollow frame structure and the ground, and the AGV transport vehicle 4 can move into this gap.

[0064] As Figure 5As shown in the figure, it is a schematic structural diagram of the support platform. The support platform 3 includes an overall frame 5, on which a support bracket 6, four telescopic tie rods 7 and four three-way moving devices 8 are arranged. The overall frame 5 includes support legs at the bottom, which is in an overall "M" shape, and a space can be provided for the AGV transport vehicle 4 below the overall frame 5.

[0065] As Figure 6 shown in the figure, it is a schematic structural diagram of a wing support beam. As Figure 7 shown in the figure, it is Figure 6 the front view of Figure 7 In the figure, the dashed line at point A indicates the outer contour of the wing lower skin panel. In some embodiments of the present application, the wing support beam 2 includes a support beam body 9, a support plate 14, two support ball heads 12, two flexible plates 11, four support beam handles 10 and two lifting rings 13. The support plate 14, two support ball heads 12, two flexible plates 11, four handles 10 and two lifting rings 13 are all arranged on the support beam body 9. The support beam body 9 can adopt a hollow structure to reduce the overall weight. There are six bolt holes 15 on the support plate 14 for connecting the wing support beam 2 and the wing nacelle component 1, and the connection form between the support plate 14 and the support beam body 9 can be welding. The support ball head 12 is a solid structure, and the support ball head 12 is screwed to the support beam body 9. The flexible plate 11 can be bonded to the support beam body 9, and the flexible plate 11 is used to protect the wing nacelle component 1 to prevent the wing support beam 2 from damaging the wing nacelle component 1. The support beam handle 10 is fixed to the support beam body 9 by bolts, and the support beam handle 10 is used for operation when the wing support beam 2 is installed on the wing nacelle component 1. The lifting ring 13 is fixed to the support beam body 9 by bolts, and the lifting ring 13 is used for lifting the wing support beam 2 itself.

[0066] In other embodiments of the present application, the support beam handle 10 and the lifting ring 13 can be selectively provided, and the specific installation positions can also be adjusted. The flexible plate 11 is preferably made of a rubber plate, and other flexible plates with a buffering effect can also be used.

[0067] In some embodiments of the present application, the support bracket 6 can be in a "stool" shape, and the support bracket 6 is connected to the overall frame 5 by welding, which is more reliable. In other embodiments of the present application, other connection methods can also be used. Rubber plates can be bonded at the contact position between the support bracket 6 and the wing nacelle component 1 to prevent the support bracket 6 from damaging the wing nacelle component 1.

[0068] As Figure 9As shown in the figure, it is a schematic structural diagram of a telescopic pull rod. The telescopic pull rod 7 may include a first connecting rod 16, a second connecting rod 17 and a sleeve 21. A sleeve handle 22 is provided on the sleeve 21. By rotating the sleeve 21 through the sleeve handle 22, the telescoping between the first connecting rod 16 and the second connecting rod 17 can be achieved. The telescopic pull rod 7 is connected to the hinge joint 20 on the overall frame, and the wing body joint 29 on the wing nacelle component is connected to the telescopic pull rod 7 through a first latch 18.

[0069] In other embodiments of the present application, other telescopic structures may also be adopted, as long as they can be telescoped relative to the overall frame 5.

[0070] As Figure 10 As shown in the figure, it is a schematic structural diagram of a three-way moving device. The three-way moving device includes an X-direction driving unit, a Y-direction driving unit and a Z-direction driving unit. The Y-direction driving unit is installed on the output end of the X-direction driving unit, and the Z-direction driving unit is installed on the output end of the Y-direction driving unit. The wing support beam is installed on the output end of the Z-direction driving unit. The X-direction, Y-direction and Z-direction respectively correspond to the positive directions of the three axes of the space rectangular coordinate system. The driving modes of the X-direction driving unit, the Y-direction driving unit and the Z-direction driving unit are respectively realized through a first handwheel 24, a second handwheel 25, a third handwheel 326 and a slide rail 23. The slide rail 23 corresponds to the X-direction and the Y-direction respectively, and is an X-direction guide rail and a Y-direction guide rail. By operating the first handwheel 24, the lifting drive of the output end of the Z-direction driving unit can be realized to adjust the height of the three-way moving device 8 itself. By operating the second handwheel 25 or the third handwheel 26, the corresponding X-direction driving unit and Y-direction driving unit can be realized to slide on the corresponding slide rail 23.

[0071] In some embodiments of the present application, in order to further ensure the safety of driving, a first limiting member 27 and a second limiting member 28 may also be provided. The structural forms of the first limiting member 27 and the second limiting member 28 are not limited. The first limiting member 27 is used to limit the driving displacement of the X-direction driving assembly, and the second limiting member 28 is used to limit the driving displacement of the Y-direction driving assembly. By installing the first limiting member 27 and the second limiting member 28, the limit locking of the three-way moving device 8 can be realized.

[0072] The working principle of the above wing transportation device is:

[0073] S1, connect the support plate 14 and the wing nacelle component 1 through bolts, so that the wing support beam 2 is installed on the wing nacelle component 1.

[0074] S2. Lift the wing nacelle component 1 onto the support bracket 6. Adjust the height of the three-way moving device 8 itself by operating the first handwheel 24. Slide the three-way moving device 8 on the corresponding slide rail 23 by operating the second handwheel 25 or the third handwheel 26. After the three-way moving device 8 moves into place, connect and lock the support ball head 12 on the three-way moving device 8 and the wing support beam 2.

[0075] S3. Rotate the sleeve 21 through the sleeve handle 22 to achieve the telescoping of the first connecting rod 16 and the second connecting rod 17. After the telescopic pull rod 7 is adjusted into place, connect the telescopic pull rod 7 to the upper fuselage joint 29 on the wing nacelle component.

[0076] S4. Manually remotely control the AGV transport vehicle 4 to enter below the support platform 3. After entering, the AGV transport vehicle 4 rises until it stops after contacting the support platform 3.

[0077] S5. Manually remotely control the AGV transport vehicle 4 to carry the support platform 3 and the wing nacelle component 1 located on the support platform 3 for transfer.

[0078] This application also proposes a wing transportation device, which may include a controller and the aforementioned wing transportation device. Among them, the controller is connected to the AGV transport vehicle 4 for controlling the operation of the AGV transport vehicle 4. Alternatively, the controller is respectively connected to the AGV transport vehicle 4 and the three-way moving device 8 for controlling the operation of the AGV transport vehicle 4 and the three-way moving device 8.

[0079] It should be noted that how the controller controls the AGV transport vehicle 4 and the three-way moving device 8 can adopt existing control methods. In addition, the control aspect can be achieved through the existing control software time of the supporting equipment, or through the circuit. Especially for the three-way moving device 8, it can be matched and set according to the structural type of the three-way moving device 8.

[0080] The above are only the preferred embodiments of this application and are not used to limit this application. For those skilled in the art, this application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims

1. An aircraft wing transportation device, characterized in that, It includes a wing support beam (2), a support platform (3) and an AGV transport vehicle (4); A support bracket (6) and at least two three-way moving devices (8) are installed on the support platform (3). The output end of the three-way moving device (8) is provided with a wing support beam (2) for supporting the wing across the wing. Four telescopic tie rods (7) are hinged on the support platform (3). The output end of the telescopic tie rod (7) is used to connect the upper wing-body joint (29) of the wing nacelle component. The four telescopic tie rods (7) are respectively located at the four corners of a rectangle. The support bracket (6) is located between the four telescopic tie rods (7), and the three-way moving devices (8) are located outside the four telescopic tie rods (7). At least two three-way moving devices (8) are symmetrically arranged and correspondingly arranged at the wings on both sides; The AGV transport vehicle (4) is used to move the support platform (3) when performing a transport task.

2. The wing transportation device according to claim 1, characterized in that The wing support beam (2) includes a support beam body (9) arranged at the output end of the three-way moving device (8); A support plate (14) and two flexible plates (11) are arranged on the support beam body (9). The two flexible plates (11) are respectively located at both ends of the support beam body (9), and the support plate (14) is located at the center between the two flexible plates (11); The support plate (14) is used to connect the wing nacelle component (1); Both of the two flexible plates (11) are inclined, and the inclined shape is the same as the wing shape.

3. The wing transportation device according to claim 2, characterized in that, A support beam handle (10) and a lifting ring (13) are also arranged on the support beam body (9).

4. The wing transportation device according to claim 3, characterized in that The telescopic tie rod (7) includes a first connecting rod (16) and a second connecting rod (17); One end of the first connecting rod (16) is connected to one end of the second connecting rod (17) through a sleeve (21); The other end of the first connecting rod (16) is hinged with a first lock (18), and the first lock (18) is used to connect the upper wing-body joint (29) of the wing nacelle component. The other end of the second connecting rod (17) is hinged with a second lock (19), and the second lock (19) is connected to the support platform (3).

5. The wing transportation device according to claim 4, wherein, A sleeve handle (22) is installed on the sleeve (21).

6. The wing transportation device according to claim 5, characterized in that, The three-way moving device (8) includes an X-direction driving unit, a Y-direction driving unit and a Z-direction driving unit; The Y-direction driving unit is installed at the output end of the X-direction driving unit, the Z-direction driving unit is installed at the output end of the Y-direction driving unit, and the wing support beam (2) is installed at the output end of the Z-direction driving unit. The X-direction, Y-direction and Z-direction respectively correspond to the positive directions of the three axes of the space rectangular coordinate system.

7. The wing transportation device according to claim 6, characterized in that, It also includes a first limiting member (27) and a second limiting member (28); The X-direction driving unit includes an X-direction driving component and an X-direction guide rail; the Y-direction driving unit includes a Y-direction driving component and a Y-direction guide rail; The Y-direction guide rail is installed on the X-direction guide rail, and the Y-direction guide rail is installed at the output end of the X-direction driving component. The first limiting member (27) is used to limit the driving displacement of the X-direction driving component; The Z-direction driving unit is installed on the Y-direction guide rail and at the output end of the Y-direction driving assembly, and the second limiting member (28) is used to limit the driving displacement of the Y-direction driving assembly.

8. The wing transportation device according to claim 7, characterized in that, The flexible plate (11) is a rubber plate.

9. The wing transportation device according to claim 8, characterized in that, The support beam body (9) is locked with the output end of the Z-direction driving unit through a support ball head (12).

10. An aircraft wing transportation device, comprising a controller; characterized in that, It also includes the wing transportation device according to any one of claims 1 to 9; The controller is connected to the AGV transport vehicle (4) for controlling the operation of the AGV transport vehicle (4); alternatively, the controller is respectively connected to the AGV transport vehicle (4) and the three-direction moving device (8) for controlling the operations of the AGV transport vehicle (4) and the three-direction moving device (8).

Images