An engine mounting vehicle

Abstract

The application discloses an engine mounting vehicle and relates to the field of aviation ground service equipment, which comprises a chassis, a lifting frame, a horizontal swing frame, a pitching frame, a horizontal moving frame and a longitudinal swing carrier. The lifting frame is arranged on the chassis and is used for vertically moving the lifting frame relative to the chassis. The horizontal swing frame is arranged on the lifting frame and is used for swinging and moving the horizontal swing frame along the horizontal direction relative to the lifting frame. The angle adjusting mechanism is arranged on the horizontal swing frame and is used for vertically swinging the pitching frame relative to the horizontal swing frame. The horizontal moving frame is arranged on the pitching frame and is used for moving the horizontal moving frame along the horizontal direction relative to the pitching frame. The second swing mechanism is arranged on the horizontal moving frame and is used for vertically swinging the longitudinal swing carrier relative to the horizontal moving frame. The swing axis of the longitudinal swing carrier and the swing axis of the pitching frame are perpendicular to each other. The application has high freedom degree position angle adjusting capability for the engine carried by the longitudinal swing carrier.

Description

Technical Field

[0001] This application relates to the field of aviation ground support equipment technology, and more specifically, to an engine mounting vehicle. Background Technology

[0002] As a key component of drones, the engine is the power source for drone flight. When the engine fails or reaches the time for periodic maintenance, it needs to be disassembled and reassembled.

[0003] Currently, the common methods for disassembling and assembling drone engines involve using lifting tools or mounting brackets and vehicles. These methods and equipment require a large number of personnel, resulting in a high degree of manual operation and compromised safety. The tail-end power system of drones has a very compact layout, with minimal clearance between the engine and other tail components and finished products, and numerous pipes surrounding the engine. Using these installation methods and equipment requires adjusting the engine's attitude within extremely confined spaces, performing precise operations such as pitch, roll, and yaw. The installation process is highly susceptible to collisions with surrounding components, potentially damaging the engine.

[0004] In conclusion, how to achieve multi-degree-of-freedom adjustment during engine installation is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] In view of this, the purpose of this application is to provide an engine mounting vehicle that effectively improves the degree of freedom in adjusting the position and angle during engine installation.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] An engine mounting vehicle includes a chassis, a lifting platform, a horizontal swing platform, a pitching platform, a translating platform, and a longitudinal swing support frame. The chassis is located on the ground and is equipped with a lifting mechanism for vertically moving the lifting platform relative to the chassis. The lifting platform is equipped with a first swing mechanism for horizontally swinging and moving the horizontal swing platform relative to the lifting platform. The horizontal swing platform is equipped with an angle adjustment mechanism for vertically swinging the pitching platform relative to the horizontal swing platform. The pitching platform is equipped with a lateral movement mechanism for horizontally moving the translating platform relative to the pitching platform. The translating platform is equipped with a second swing mechanism for vertically swinging the longitudinal swing support frame relative to the translating platform. The swing axis of the longitudinal swing support frame and the swing axis of the pitching platform are perpendicular to each other.

[0008] Preferably, the lifting mechanism is a scissor lift, with its lower end connected to the base frame and its upper end connected to the lifting platform.

[0009] Preferably, the first swing mechanism includes a first fulcrum assembly and a second fulcrum assembly. The first fulcrum assembly and the second fulcrum assembly each provide a fulcrum for the horizontal swing platform to rotate laterally relative to the lifting platform. The two fulcrums can move relative to the lifting platform and the moving directions are parallel. A bullseye bearing is provided below the horizontal swing platform, and the bullseye bearing abuts against the upper side of the lifting platform.

[0010] Preferably, the first fulcrum assembly includes a connecting rod and a first lead screw. One end of the connecting rod is horizontally hinged to the lifting platform, and the other end is horizontally hinged to the swing platform. The first lead screw is threadedly connected to the lifting platform, and the axis of the first lead screw is horizontal. The end of the first lead screw is hinged to the connecting rod through a ball joint bearing, and a universal joint is provided in the middle of the first lead screw.

[0011] Preferably, the second fulcrum assembly includes a mating block, a mating ball, and a second lead screw. The mating block is connected to the horizontal swing platform and has a mating groove. The mating ball is coaxially connected to the end of the second lead screw and is embedded in and slides along the mating groove. The second lead screw and the lifting platform are rotatably connected and their length directions are parallel to the length direction of the first lead screw. The length direction of the mating groove is horizontal and intersects with the length direction of the second lead screw.

[0012] Preferably, the pitching platform and the oscillation platform are hinged relative to each other, with the hinge axis in the horizontal direction, and the angle adjustment mechanism is used to apply a vertical thrust to the pitching platform.

[0013] Preferably, the angle adjustment mechanism includes a first lifting block and a second lifting block, both of which are vertically slidably connected to the panning platform. One end of the pitch platform is hinged to the first lifting block, and the other end is provided with a force-bearing block. The force-bearing block has a hinged long slot, the length direction of which is perpendicular to the hinge axis of the pitch platform. The second lifting block is provided with a lifting shaft, which is inserted into the hinged long slot. The angle adjustment mechanism also includes a control component for moving the first lifting block or the second lifting block independently.

[0014] Preferably, the translation stage and the pitch stage are slidably connected, with the sliding direction perpendicular to the hinge axis of the pitch stage. The pitch stage is equipped with a driver, which is used to control the movement of the translation stage.

[0015] Preferably, the upper side of the translation platform is provided with an arc track, the arc track is concave, the longitudinal swing support frame slides along the arc track, and the plane where the trajectory line of the arc track is located is perpendicular to the hinge axis of the pitch platform.

[0016] Preferably, the second swing mechanism includes a third lead screw, which is rotatably connected to the translation platform. The axis of the third lead screw is perpendicular to the moving direction of the translation platform. A push-pull block is rotatably connected to the third lead screw, and a push-pull pin is connected to the push-pull block. The longitudinal swing support frame is provided with a push-pull long groove, the length direction of which is intersected with the length direction of the third lead screw. The push-pull pin is located in the push-pull long groove.

[0017] The engine mounting vehicle provided in this application, in a right-hand Cartesian coordinate system, provides a degree of freedom of movement along the y-axis by vertically moving the lifting platform relative to the base frame; a degree of freedom of movement along the z-axis or rotation along the y-axis by horizontally moving the swaying platform relative to the lifting platform; a degree of freedom of rotation along one of the horizontal axes (x-axis or z-axis) by vertically swinging the pitching platform relative to the swaying platform; a degree of freedom of movement along the x-axis by moving the translation platform relative to the pitching platform; and a degree of freedom of rotation along the horizontal axis by vertically swinging the longitudinal swing support frame relative to the translation platform. Therefore, the longitudinal swing support frame can ultimately possess degrees of freedom of movement in all directions. By mounting the engine on the longitudinal swing support frame and operating the lifting mechanism, the first swing mechanism, the angle adjustment mechanism, the lateral movement mechanism, or the second swing mechanism, the engine can be adjusted in multiple directions, angles, and postures, achieving precise operation during the engine installation process. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0019] Figure 1 This is a schematic diagram illustrating the overall structure of the engine mounting vehicle in the embodiments of this application;

[0020] Figure 2 This is a schematic diagram illustrating the overall structure of the lifting platform, the horizontal platform, the pitching platform, the translation platform, and the longitudinal bearing frame in the embodiments of this application.

[0021] Figure 3 This is a schematic diagram illustrating the structure of the lifting platform in the embodiments of this application;

[0022] Figure 4 This is a schematic diagram illustrating the lifting platform, the horizontal swing platform, and the first swing mechanism in the embodiments of this application;

[0023] Figure 5 This is a structural schematic diagram illustrating the pitching and translation platforms in the embodiments of this application;

[0024] Figure 6 This is a schematic diagram illustrating the structure of the longitudinal swing support frame in the embodiments of this application.

[0025] Figures 1-6 In the accompanying drawings, the reference numerals include:

[0026] 1. Base frame; 11. Motorized wheels; 2. Lifting platform; 21. Lifting mechanism; 3. Tilt platform; 31. Bullseye bearing; 32. First fulcrum assembly; 321. Connecting rod; 322. First lead screw; 33. Second fulcrum assembly; 331. Mating block; 332. Mating groove; 334. Mating ball; 335. Second lead screw; 4. Pitch platform; 41. First lifting block; 42. Second lifting block; 4 3. Load-bearing block; 431. Hinge slot; 44. Control component; 441. Fourth lead screw; 442. Fifth lead screw; 443. Screw jack; 5. Translation platform; 51. Sixth lead screw; 511. Transmission unit; 512. Operating unit; 513. Right-angle reversing device; 52. Curved track; 6. Longitudinal swing support frame; 61. Push-pull slot; 62. Third lead screw; 621. Push-pull block; 622. Push-pull pin. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar words used in this application do not indicate any order, quantity, or importance. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly. An embodiment of this application discloses an engine mounting vehicle.

[0029] The core of this application is to provide an engine mounting vehicle.

[0030] Please refer to Figure 1 and Figure 2 .

[0031] The engine mounting vehicle provided in this application comprises, from bottom to top, a base frame 1, a lifting platform 2, a horizontal swing platform 3, a pitching platform 4, a translation platform 5, and a longitudinal swing support frame 6. The base frame 1 is equipped with four motorized wheels 11, with every two motorized wheels 11 coaxial. One pair of coaxial motorized wheels 11 are steering wheels, and the other pair are drive wheels. The mounting vehicle can move omnidirectionally on the ground via the motorized wheels 11 on the base frame 1. The longitudinal swing support frame 6 is used to support and lift the engine; therefore, it is fixedly equipped with fixtures for temporarily securing the engine.

[0032] Establish a right-handed Cartesian coordinate system, with the vertical direction perpendicular to the ground as the y-axis, the horizontal direction of the driving wheel's rolling motion as the x-axis, and the axis of the driving wheel as the z-axis.

[0033] The base frame 1 is equipped with a lifting mechanism 21, which is used to move the lifting platform 2 relative to the base frame 1 along the y-axis. The lifting platform 2 is equipped with a first swing mechanism, which is used to swing the horizontal platform 3 relative to the lifting platform 2 in the horizontal direction and move it in the z-axis direction. That is, the horizontal platform 3 has both rotation around the y-axis and movement along the z-axis. The horizontal platform 3 is equipped with an angle adjustment mechanism, which is used to swing the pitch platform 4 vertically relative to the horizontal platform 3, with the swing axis parallel to the y-axis. The pitch platform 4 is equipped with a lateral movement mechanism, which is used to move the translation platform 5 relative to the pitch platform 4 in the x-axis direction. The translation platform 5 is equipped with a second swing mechanism, which is used to swing the longitudinal swing support frame 6 vertically relative to the translation platform 5, with the swing axis parallel to the x-axis.

[0034] By operating the lifting mechanism 21, the first swing mechanism, the angle adjustment mechanism, the lateral movement mechanism, or the second swing mechanism, the engine can be adjusted in multiple directions, angles, and postures, enabling precise operation during the engine installation process.

[0035] The engine mounting vehicle provided in this application will now be described in more detail with reference to the accompanying drawings and specific embodiments.

[0036] In one specific implementation, reference is made to... Figure 1 .

[0037] Specifically, the lifting mechanism 21 is a scissor lift driven by a hydraulic cylinder. The lower connecting rod of the scissor lift is hinged to the base frame 1, and the upper connecting rod is hinged to the lifting platform 2. The cylinder body of the hydraulic cylinder is fixedly connected to the base frame 1. The scissor lift can be operated by the hydraulic cylinder to make the lifting platform 2 and the horizontal swing platform 3, the pitch platform 4, the translation platform 5, and the longitudinal swing support frame 6 on it move up and down as a whole.

[0038] Based on the above embodiments, refer to Figure 2 , Figure 3 and Figure 4 .

[0039] Specifically, the first swing mechanism includes a first fulcrum assembly 32 and a second fulcrum assembly 33. Each of the first fulcrum assembly 32 and the second fulcrum assembly 33 provides a fulcrum for the horizontal swing platform 3 to rotate laterally relative to the lifting platform 2. The two fulcrums can move relative to the lifting platform 2 in parallel directions, both parallel to the z-axis. The motion or stationary state of the two fulcrums jointly determines the relative attitude of the horizontal swing platform 3 relative to the lifting platform 2, thereby enabling the horizontal swing platform 3 to move along the z-axis or rotate around the y-axis.

[0040] Four bullseye bearings 31 are fixedly installed at the bottom of the pendulum platform 3. The upper side of the lifting platform 2 forms a force-bearing platform through its own flat plate structure. The balls of the bullseye bearings 31 abut against the platform of the flat plate structure of the lifting platform 2. The lifting platform 2 supports the gravity of the pendulum platform 3 through the force-bearing platform. The bullseye bearings 31 are used to improve the stability of the pendulum platform 3 when it swings or moves laterally.

[0041] Based on the above embodiments, refer to Figure 3 and Figure 4 .

[0042] Specifically, the first fulcrum assembly 32 provides the first rotational fulcrum, which includes a connecting rod 321 and a first lead screw 322. One end of the connecting rod 321 is hinged to the lifting platform 2, and the other end is horizontally hinged to the pendulum platform 3. The axial directions of the hinge axes are parallel to the y-axis. The first lead screw 322 is threadedly connected to the lifting platform 2, and the axial direction of the first lead screw 322 is parallel to the z-axis. The end of the first lead screw 322 is hinged to the connecting rod 321 through a ball joint bearing, and a universal joint is provided in the middle of the first lead screw 322. When the first lead screw 322 rotates, it has a tendency to move along the z-axis, thereby generating a thrust or pull force on the connecting rod 321, causing the connecting rod 321 to swing. The hinge point between the connecting rod 321 and the pendulum platform 3 also swings accordingly, and the pendulum platform 3 obtains the power for horizontal swinging or movement.

[0043] Based on the above embodiments, such as Figure 3 and Figure 4 As shown.

[0044] Specifically, the second fulcrum assembly 33 provides a second rotational fulcrum, which includes a mating block 331, a mating ball 334, and a second lead screw 335. The second lead screw 335 is rotatably connected to the lifting platform 2, and its length direction is parallel to the length direction of the first lead screw 322. The mating block 331 is fixedly connected to the horizontal platform 3, and a mating groove 332 is formed on the mating block 331. The mating groove 332 is an oblong groove with its length direction horizontal. The mating ball 334 is coaxially connected to the end of the second lead screw 335; the mating ball 334 is embedded in the mating groove 332 and can slide along its length direction. The mating block and the mating fulcrum 331 form a ball hinge structure that can both rotate and slide.

[0045] The length directions of the long groove 332 and the length directions of the second lead screw 335 are intersected, so that when the second lead screw 335 rotates, it applies a pushing or pulling force to the pendulum frame 3 through the ball joint structure at its end. The sliding amount of the ball 334 relative to the mating block 331 is used to make the second lead screw 335 adapt to the attitude change of the pendulum frame 3 in the x-axis direction when it swings.

[0046] When adjusting the attitude of the pendulum platform 3, operating the first lead screw 322 or the second lead screw 335 alone can make the pendulum platform 3 swing horizontally around the second rotation fulcrum or the first rotation fulcrum, respectively. At the same time, operating the first lead screw 322 or the second lead screw 335 can adjust the attitude of the pendulum platform 3 while it is swinging horizontally, and can even make the pendulum platform 3 move horizontally while maintaining a stable attitude, with the direction of movement being the z-axis.

[0047] Based on the above embodiments, such as Figure 2 , Figure 4 and Figure 5 As shown.

[0048] The pitch platform 4 and the swing platform 3 are hinged to each other, with the hinge axis in the horizontal direction. In this embodiment, the hinge axis is parallel to the z-axis. The angle adjustment mechanism is used to apply a vertical thrust to the pitch platform 4, thereby enabling the pitch platform 4 to swing vertically, with the swing axis parallel to the z-axis.

[0049] Specifically, the angle adjustment mechanism includes two first lifting blocks 41 and two second lifting blocks 42. The first lifting blocks 41 are located on one side of the pitch platform 4, and the second lifting blocks 42 are located on the other side of the pitch platform 4. The first lifting blocks 41 and the second lifting blocks 42 are both vertically slidably connected to the panning platform 3.

[0050] One end of the pitch platform 4 is hinged to the first lifting block 41, and the other end is fixedly provided with a force-bearing block 43. The force-bearing block 43 has a hinged long slot 431, the length of which is perpendicular to the hinge axis of the pitch platform 4. A lifting shaft (not shown in the figure) is fixedly connected to the second lifting block 42. The length of the lifting shaft is parallel to the z-axis, and it is inserted into the hinged long slot 431 and can move along its length. When the pitch platform 4 rotates relative to the first lifting block 41, the end of the pitch platform 4 near the second lifting block 42 will undergo lateral displacement. The cooperation of the hinged long slot 431 and the lifting shaft allows the connection structure between the pitch platform 4 and the second lifting block 42 to adaptively adapt to this constant lateral displacement, and the second lifting block 42 can always maintain a supporting state for the pitch platform 4.

[0051] The angle adjustment mechanism also includes a control component 44 for independently moving the first lifting block 41 or the second lifting block 42. In this embodiment, the control component 44 consists of a fourth lead screw 441, a fifth lead screw 442, and a screw jack 443. The fourth lead screw 441 and the fifth lead screw 442 are rotatably connected to the pendulum platform 3, with their rotation axes parallel to the z-axis. There are four screw jacks 443, each corresponding to one first lifting block 41 or one second lifting block 42. The screw jacks 443 can be equipped with a worm gear reducer, which can convert the torque of the fourth lead screw 441 into a thrust on the first lifting block 41 to change its vertical position. The same applies to the fifth lead screw 442 and the second lifting block 42. Universal joints are also provided in the middle sections of the fourth lead screw 441 and the fifth lead screw 442 to reduce the influence of bending stress generated between their respective two transmission points.

[0052] Based on the above embodiments, such as Figure 1 and Figure 5 As shown.

[0053] Specifically, the translation stage 5 and the pitch stage 4 are slidably connected, with the sliding direction perpendicular to the hinge axis of the pitch stage 4. When the pitch stage 4 is in a flat position, the sliding direction of the translation stage 5 is in the x-axis direction. The pitch stage 4 is equipped with a driver, which is used to control the movement of the translation stage 5.

[0054] The driver is a sixth lead screw 51, which includes a transmission part 511 and an operating part 512. The transmission part 511 and the operating part 512 are connected by a right-angle commutator 513 with a built-in right-angle gear. The right-angle commutator 513 is fixedly connected to the pitch platform 4. The length direction of the transmission part 511 is the x-axis direction, and the length direction of the operating part 512 is the z-axis direction.

[0055] The screw thread of the sixth lead screw 51 is located on the transmission part 511. The transmission rod part and the translation platform 5 are threadedly connected. By rotating the operating part 512, the transmission part 511 is driven to rotate. The transmission part 511 drives the translation platform 5 to move through the threaded transmission.

[0056] Based on the above embodiments, such as Figure 2 and Figure 6 As shown.

[0057] Specifically, an arc track 52 is fixedly mounted on the upper side of the translation platform 5. The arc track 52 is concave, and its trajectory can be considered as part of a circular arc. The plane containing the trajectory line of the arc track 52 is perpendicular to the hinge axis of the pitch platform 4, that is, parallel to the x-axis. The longitudinal swing support frame 6 slides along the arc track 52 through a roller structure, that is, the longitudinal swing support frame 6 rotates relative to the translation platform 5, and the axis of rotation is parallel to the x-axis.

[0058] Specifically, the second swing mechanism includes a third lead screw 62, which is rotatably connected to the translation platform 5, and the axis of the third lead screw 62 is parallel to the z-axis. A push-pull block 621 is coaxially rotatably connected to the third lead screw 62, and a push-pull pin 622 is fixedly connected to the push-pull block 621. The length direction of the push-pull pin 622 is perpendicular to the length direction of the third lead screw 62.

[0059] The longitudinal swing support frame 6 has a push-pull elongated groove 61. The length direction of the push-pull elongated groove 61 is intersected with the length direction of the third lead screw 62. When the longitudinal swing support frame 6 is in a horizontal position, the length direction of the push-pull elongated groove 61 is vertical. The push-pull pin 622 is located in the push-pull elongated groove 61. When the third lead screw 62 rotates, the push-pull block 621 moves along the z-axis. The push-pull pin 622 generates a thrust on the groove wall of the push-pull elongated groove 61. The direction of the thrust is the z-axis direction, thereby generating a swing thrust on the longitudinal swing support frame 6, causing it to swing around the x-axis.

[0060] Under the action of the motor wheel 11, lifting mechanism 21, first swing mechanism, angle adjustment mechanism, lateral movement mechanism and second swing mechanism, the longitudinal swing support frame 6 can carry the engine to adjust its position, attitude and angle in each degree of freedom, so as to ultimately achieve precise position adjustment when the engine is installed.

[0061] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0062] The above provides a detailed description of an engine mounting vehicle provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this application. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of this application.

Claims

1. An engine mounting vehicle, characterized in that, The system includes a base frame (1), a lifting platform (2), a horizontal swing platform (3), a pitching platform (4), a translation platform (5), and a vertical swing support frame (6). The base frame (1) is located on the ground. A lifting mechanism (21) is provided on the base frame (1). The lifting mechanism (21) is used to move the lifting platform (2) vertically relative to the base frame (1). A first swing mechanism is provided on the lifting platform (2). The first swing mechanism is used to swing and move the horizontal swing platform (3) horizontally relative to the lifting platform (2). An angle adjustment mechanism is provided on the platform, which is used to make the pitch platform (4) swing vertically relative to the horizontal platform (3). The pitch platform (4) is provided with a horizontal movement mechanism, which is used to make the horizontal movement platform (5) move horizontally relative to the pitch platform (4). The horizontal movement platform (5) is provided with a second swing mechanism, which is used to make the vertical swing support frame (6) swing vertically relative to the horizontal platform (5). The swing axis of the vertical swing support frame (6) and the swing axis of the pitch platform (4) are perpendicular to each other.

2. The engine mounting vehicle according to claim 1, characterized in that, The lifting mechanism (21) is a scissor lift, with the lower end of the scissor lift connected to the base frame (1) and the upper end connected to the lifting platform (2).

3. The engine mounting vehicle according to claim 1 or 2, characterized in that, The first swing mechanism includes a first fulcrum assembly (32) and a second fulcrum assembly (33). The first fulcrum assembly (32) and the second fulcrum assembly (33) each provide a fulcrum for the horizontal swing platform (3) to rotate laterally relative to the lifting platform (2). The two fulcrums can move relative to the lifting platform (2) and the moving directions are parallel. A bullseye bearing (31) is provided below the horizontal swing platform (3). The bullseye bearing (31) abuts against the upper side of the lifting platform (2).

4. The engine mounting vehicle according to claim 3, characterized in that, The first fulcrum assembly (32) includes a connecting rod (321) and a first lead screw (322). One end of the connecting rod (321) is horizontally hinged to the lifting platform (2), and the other end is horizontally hinged to the horizontal swing platform (3). The first lead screw (322) is threadedly connected to the lifting platform (2), and the axial direction of the first lead screw (322) is horizontal. The end of the first lead screw (322) is hinged to the connecting rod (321) through a ball joint bearing. A universal joint is provided in the middle of the first lead screw (322).

5. The engine mounting vehicle according to claim 4, characterized in that, The second fulcrum assembly (33) includes a mating block (331), a mating ball (334), and a second lead screw (335). The mating block (331) is connected to the horizontal swing platform (3). A mating groove (332) is provided on the mating block (331). The mating ball (334) is coaxially connected to the end of the second lead screw (335). The mating ball (334) is embedded in the mating groove (332) and slides along it. The second lead screw (335) and the lifting platform (2) are rotatably connected and their length direction is parallel to the length direction of the first lead screw (322). The length direction of the mating groove (332) is horizontal and intersects with the length direction of the second lead screw (335).

6. The engine mounting vehicle according to claim 4, characterized in that, The pitching platform (4) and the slewing platform (3) are hinged to each other with the hinge axis in the horizontal direction. The angle adjustment mechanism is used to apply vertical thrust to the pitching platform (4).

7. The engine mounting vehicle according to claim 6, characterized in that, The angle adjustment mechanism includes a first lifting block (41) and a second lifting block (42). The first lifting block (41) and the second lifting block (42) are both vertically slidably connected to the pendulum platform (3). One end of the pitch platform (4) is hinged to the first lifting block (41), and the other end is provided with a force block (43). The force block (43) is provided with a hinge slot (431). The length direction of the hinge slot (431) is perpendicular to the hinge axis of the pitch platform (4). The second lifting block (42) is provided with a lifting shaft. The lifting shaft is inserted into the hinge slot (431). The angle adjustment mechanism also includes a control component (44) for moving the first lifting block (41) or the second lifting block (42) independently.

8. The engine mounting vehicle according to claim 6, characterized in that, The translation stage (5) and the pitch stage (4) are slidably connected, and the sliding direction is perpendicular to the hinge axis of the pitch stage (4). The pitch stage (4) is equipped with a driver, which is used to control the movement of the translation stage (5).

9. The engine mounting vehicle according to claim 6, characterized in that, The upper side of the translation platform (5) is provided with an arc track (52), the arc track (52) is concave, the longitudinal swing support frame (6) slides along the arc track (52), and the plane where the trajectory line of the arc track (52) is located is perpendicular to the hinge axis of the pitch platform (4).

10. The engine mounting vehicle according to claim 9, characterized in that, The second swing mechanism includes a third lead screw (62), which is rotatably connected to the translation platform (5). The axis of the third lead screw (62) is perpendicular to the moving direction of the translation platform (5). A push-pull block (621) is rotatably connected to the third lead screw (62), and a push-pull pin (622) is connected to the push-pull block (621). A push-pull long groove (61) is opened in the longitudinal swing support frame (6). The length direction of the push-pull long groove (61) is intersected with the length direction of the third lead screw (62), and the push-pull pin (622) is located in the push-pull long groove (61).

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