CN102331784B - Online adjusting system and method for attitude aligning and positioning before assembly of nose gear of airplane - Google Patents

Abstract

An on-line adjustment system and method for attitude adjustment and positioning before assembly of aircraft front landing gear in the technical field of mechanical assembly. The output end of the measurement system module of the system is connected to the input end of the computer control feedback module, and the output end of the computer control feedback module is connected to the input end of the attitude adjustment mechanism. on the positioning device. This method is to realize the deviation source diagnosis of the functional dimension based on the measurement data of the functional dimension of the retractable performance of the landing gear and the position measurement data of each positioning axis of the landing gear, design the adjustment scheme of the positioning axis according to the diagnosis results, and repeat the above process until the functional dimension is in the Within the scope of engineering design requirements, after the above process is completed, the corresponding process is determined according to the final position data of the positioning axis, and the connection and cooperation between the nose landing gear and the nose assembly are completed. In the invention, the efficiency of assembly and allocation is improved by nearly 40% based on the time of adjusting the system hanging point before implementation.

Description

On-line adjustment system and method for attitude adjustment and positioning before aircraft nose landing gear assembly

technical field

The present invention relates to an online adjustment system and its method in the technical field of mechanical assembly, in particular to an online adjustment system and its method for attitude adjustment and positioning before assembly of the nose landing gear of an aircraft.

Background technique

The aircraft landing gear system is the most important load-bearing device of the aircraft, and it is one of the four major systems of modern aircraft together with the airframe, engine, and avionics system. The front landing gear is mainly connected by a series of load-bearing rods through the fork lugs through hole-shaft-hole cooperation, and the main power device is the retractable actuator. The retractable actuator controls the down and retract of the landing gear, and its performance is directly related to the movement coordination, reliability and safety of the landing gear. During the take-off and landing of the aircraft, the power is released by the retractable actuator, so that the front landing gear rod system reaches the required position of the lowered and retracted state. At the same time, the retractable actuator also needs to be used as a shock-absorbing element for the impact load of the front wheel during the landing process. . Therefore, in the design and installation process, there are clear index requirements for the remaining travel in the retractable actuating cylinder (difference between the full length of the piston rod of the actuating cylinder and the working stroke) when the nose landing gear system is in the fully extended/retracted position. In the process of installing the front landing gear to the front landing compartment, the functional size of the remaining stroke of the retractable actuator must be ensured by adjusting the front landing gear rod system to cooperate with the positioning shaft hole in the front landing compartment. Attitude adjustment and positioning before the assembly of the nose landing gear is a complicated process, and the accuracy requirements are very high. The positions of the coordination intersection points (with holes) that need to be connected with the nose system components on the landing gear need to be precisely positioned in advance to ensure the accuracy of the assembly after assembly. The retractable performance of the landing gear meets the design and engineering requirements.

The structure of the prior art is shown in Figure 1a. The main moving components of the front landing gear are composed of the main pillar, the front strut, the locking link (including the upper locking lever and the lower locking lever) and the retractable actuator. All the rods are connected by positioning pins through the positioning shaft holes at the respective ends to form a rotating pair. The positioning shaft hole P1 and the positioning shaft hole P2 on the main pillar and the positioning shaft hole P3 and the positioning shaft hole P4 on the front strut realize the hole-shaft-hole cooperation through the positioning pin and the corresponding two pairs of positioning shaft holes in the front landing cabin. Connect the nose gear part to the nose part. The front strut and the lower strut together form a supporting link, in which one end of the lower strut is connected with the main strut, and the other end is connected with the front strut to form a pair of rotating pairs, whose main function is to provide support when the front landing gear is fully down. support. The locking link is composed of an upper locking rod and a lower locking rod, wherein the lower locking rod is connected with the front strut and the lower strut at the same time, and the upper locking rod is connected with the nose assembly through the positioning shaft hole P6, and its function is to lock the release of the front landing gear. The state of the landing gear linkage when fully extended. The retractable actuator is used as the power source for putting down and retracting the landing gear rod system components, one end of which is connected with the main pillar, and the other end is connected with the nose assembly through the positioning shaft hole P5. The ends of the above-mentioned rods all cooperate with positioning shaft hole-positioning shaft-positioning shaft hole to form a rotating pair. Therefore, the actual connection structure is transformed into a schematic diagram of the linkage mechanism as shown in Fig. 1b through analysis.

The steps of the landing gear installation method of the prior art are as follows:

① Pre-made the positioning shaft holes at the positions of P1 and P2 points on the design drawings in the front cabin of the nose assembly to ensure the symmetry of the two holes in the fuselage coordinate system, and then the P1/2 point and P3/ For the relative coordinate distance of 4 points, use the boring jig to make the positioning shaft holes at positions P3 and P4 on the design drawing in the front lifting cabin;

②Adjust the positioning shaft hole at the upper end of the main pillar assembly to the positions of points P1 and P2 on the drawing, use the positioning pivot pin to install the assembly in place, and at the same time connect and install the lower end of the lower strut and the main pillar through the positioning pivot pin;

③Adjust the positioning shaft hole at the upper end of the retractable actuator to the position of point P5 on the drawing, use the positioning pin to install the upper end of the assembly in place, and at the same time connect the lower end of the retractable actuator to the main pillar through the positioning shaft pin;

④ Adjust the positioning shaft hole at the upper end of the front strut assembly to the positions of points P3 and P4 on the drawing, and use the positioning shaft pin to install the assembly in place;

⑤Adjust the positioning shaft hole at the upper end of the lock link assembly to the position of point P6 on the drawing, and use the positioning shaft pin to install the assembly to the preset positioning shaft hole at this position on the machine head assembly;

⑥Use the positioning shaft pin to connect and install the lower end of the lock link, the lower end of the front strut and the positioning shaft hole at the upper end of the lower strut, and initially complete the installation and positioning of the landing gear;

⑦Fix the front landing gear components to the position required by the fully lowered state, measure the remaining stroke of the retractable actuator, if it meets the engineering requirements, go to the next step, otherwise, according to field experience, the hanging point position of the landing gear and the nose system, Process the special eccentric bushing according to the requirement, and install it in the prefabricated hole of the machine head assembly, in order to meet the requirements of the connection and cooperation of the hole shaft hole;

⑧Fix the front landing gear member to the position required by the fully retracted state, measure the remaining stroke of the retractable actuator, if it meets the engineering requirements, complete the installation, otherwise continue with the work of fine-tuning the positioning shaft hole in step ⑦, and process the eccentric lining Set, complete the hole shaft hole connection fit.

The defects of the above-mentioned prior art are: 1) the manufacturer guarantees the coordinate position of the positioning axis hole relative to the nose part of a few system hanging points in the nose landing compartment, and the positions of other positioning holes are determined by the relative distance, resulting in the landing gear rod The relative position of the positioning hole in the system and the positioning shaft hole of the nose assembly cannot be accurately guaranteed; 2) After the landing gear is installed, the position, movement mode and function are completely determined by the position of the positioning shaft hole of the system hanging point in 1). In the error accumulation direction and deviation source diagnosis and analysis link of the assembly process, it is difficult to predict whether the required functional dimensions are out of tolerance before the assembly is completed, resulting in the lack of process adjustment guidance methods after the assembly stage problems occur, resulting in stagnation of the assembly process ; 3) If the positioning hole in the front lifting cabin needs to be reworked, because it has left the overall coordinate system of the fuselage and lost the positioning reference, it is difficult to quickly find the source of the deviation.

Have not yet found the open literature about the positioning axis adjustment method or the system to guarantee the function size (residual stroke of retracting and retracting actuator) in the structure of aircraft nose landing gear through the retrieval of prior art literature, also do not see have the same as the present invention or Public documents of closely related technical solutions.

Contents of the invention

The purpose of the present invention is to overcome the shortcomings of the traditional landing gear installation method in the prior art, and propose an online adjustment system and method for attitude adjustment and positioning before the assembly of the nose landing gear of an aircraft. The present invention realizes the deviation source diagnosis of the functional dimensions on the basis of the measurement data of the landing gear retractable performance functional dimensions and the position measurement data of each positioning axis of the landing gear, designs the positioning axis adjustment scheme according to the diagnosis results, and repeats the above-mentioned process until the functional dimensions are in the engineering position. Within the scope of the design requirements, after the above process is completed, the corresponding process is determined according to the final position data of the positioning shaft, and the connection and cooperation between the nose landing gear and the nose assembly are completed.

The present invention is achieved through the following technical solutions:

The invention relates to an online adjustment system for attitude adjustment and positioning before the assembly of the nose landing gear of an aircraft, comprising: a measurement system module, a calculation control feedback module, an attitude adjustment and positioning device, a support stand, an attitude adjustment mechanism and a landing gear, wherein: the measurement system module The output end is connected to the input end of the computer control feedback module, the output end of the computer control feedback module is connected to the input end of the attitude adjustment mechanism, the attitude adjustment positioning device is arranged on the supporting platform, and the landing gear is pre-installed on the attitude adjustment positioning device.

The attitude adjustment and positioning device is provided with a positioning unit, and the positioning unit is arranged on the attitude adjustment mechanism.

The landing gear is pre-installed on the positioning unit, and the input terminal of the measurement system module inputs the measuring point position data of the landing gear obtained by the measuring instrument reflecting the retractable performance function size and the position data of each positioning axis measuring point of the positioning unit.

The input end of the measurement system module is input by measuring point position data reflecting the landing gear retractable performance function size and each positioning axis measuring point position data of the positioning unit, the output end is connected with the input end of the computer control feedback module, and the output passes through After coordinate conversion, the corresponding coordinates of the measured points in the fuselage coordinate system.

The calculation control feedback module includes a deviation source diagnosis unit module and a positioning axis adjustment scheme design unit module, the deviation source diagnosis unit module calculates the sensitivity coefficient of the required control function size, and realizes the deviation source diagnosis of the function size; the positioning axis adjustment scheme The design unit module designs the positioning axis position adjustment scheme based on the diagnosis results calculated by the deviation source diagnosis unit module, calculates and outputs the adjustment direction and the adjustment value of the positioning axis coordinate position, and sends them to the attitude adjustment positioning device for three-dimensional positioning axis pose Adjust in real time.

The present invention obtains the functional size data of the remaining stroke of the retractable actuator reflecting the retractable performance of the landing gear in the fully lowered and retracted positions through measurement, and is obtained by the measurement system module and placed on the positioning unit of the attitude adjustment positioning device The center position data of each positioning axis, on this basis, judge whether the remaining travel meets the requirements. If the measured functional size does not meet the requirements, the deviation source diagnosis unit module in the calculation control feedback module can obtain and calculate the sensitivity coefficient (ie deviation Influence coefficient), realize the deviation source diagnosis of functional size. According to the diagnosis result calculated by the deviation source diagnosis unit module, the positioning axis position adjustment plan is designed by the positioning axis adjustment scheme design unit module in the calculation control feedback module, and the positioning axis coordinate position adjustment direction and adjustment value are calculated and output, and sent to the attitude adjustment The positioning device drives the motor to perform three-dimensional real-time adjustment of the position and posture of the positioning axis. By repeating the above-mentioned process, the center position of each positioning axis in the landing gear member is finally adjusted until the functional dimensions meet the requirements of the engineering design while satisfying the state of being fully laid down and fully stowed at the same time. Finally, according to the final position data of the center of the positioning shaft given by the system as a basis, determine the coordinates of the positioning shaft hole of the system hanging point on the nose assembly, and select a suitable process to complete the hole-shaft-hole of the relevant positioning shaft on the landing gear and the nose system components Connect and cooperate to complete the landing gear installation.

The invention relates to an online adjustment method for attitude adjustment and positioning before the assembly of the nose landing gear of an aircraft, comprising the following steps:

Step 1: Install the system hanging points of each moving part in the front landing gear member to the positioning unit and complete the assembly;

Step 2: Pre-install the front landing gear components on the positioning unit, adjust the components so that the front landing gear is completely lowered and placed on the support stand;

Step 3: Measure and obtain the remaining stroke value of the retractable actuator, that is, the functional size, measure the position data of each positioning axis measuring point installed on the positioning unit through the measurement system module, and obtain the measured measuring point in the fuselage coordinate system after coordinate conversion The corresponding coordinates below, the data is sent to the computer control feedback module;

Step 4: Determine whether the remaining stroke of the retractable actuator meets the actual engineering requirements:

If satisfied, proceed to step 6;

If it does not meet the engineering requirements, the deviation source diagnosis unit module in the calculation control feedback module is calculated according to the center position data of the positioning shafts obtained above to obtain the sensitivity coefficient of each positioning shaft to the required control function size (ie deviation influence coefficient) to realize the deviation source diagnosis of functional dimensions;

Step 5: According to the sensitivity coefficient calculated by the deviation source diagnosis unit module in the calculation control feedback module, the positioning axis position adjustment scheme is designed by the positioning axis adjustment scheme design unit module in the calculation control feedback module, and the positioning axis coordinate position adjustment direction and output are calculated and output. Adjust the value and send it to the attitude adjustment and positioning module to drive the motor to perform three-dimensional real-time adjustment of the position and attitude of the positioning axis, and repeat the actions of steps 3 and 4;

Step 6: Adjust the landing gear member so that the positioning shaft rotates on the positioning unit until the front landing gear is fully retracted, and measure and obtain the remaining travel value of the retractable actuator under the fully retracted state, which is the functional size;

Step 7: Determine whether the remaining stroke of the retractable actuator meets the actual engineering requirements:

If satisfied, go to step nine;

If it does not meet the engineering requirements, the deviation source diagnosis unit module in the calculation control feedback module is calculated according to the center position data of the positioning shaft obtained above to obtain the sensitivity coefficient ( That is, the deviation influence coefficient) to realize the deviation source diagnosis of functional dimensions;

Step 8: According to the sensitivity coefficient calculated by the deviation source diagnosis unit module in the calculation control feedback module, the positioning axis position adjustment scheme is designed by the positioning axis adjustment scheme design unit module in the calculation control feedback module, and the positioning axis coordinate position adjustment direction and output are calculated and output. Adjust the value and send it to the attitude adjustment positioning module, drive the motor to perform three-dimensional real-time adjustment of the positioning axis position, and repeat the actions from step 3 to step 8;

Step 9: The system gives the final position of the center of the positioning axis of the system attachment point connected to the nose part on the front landing gear part, and ends.

Compared with the existing technology, the positioning axis adjustment method and its measurement and control system based on functional dimensions of the present invention have the following advantages: 1. The out-of-tolerance problem of functional dimensions in the assembly process can be found in time through measurement, the calculation speed is fast, and automatic feedback adjustment Positioning unit; 2. It avoids the blindness of traditional process experience adjustment, and selects the factors with greater influence for priority adjustment through analysis. The adjustment plan has a scientific basis and the convergence speed is fast; 3. The attitude adjustment positioning device can be adjusted in three dimensions, And the shaft diameter of the positioning shaft on the positioning unit is adjustable, which is applicable to various landing gears. 4. After the on-site implementation of the front landing gear assembly station of a certain type of aircraft, the efficiency of assembly and deployment has increased by nearly 40% based on the time of adjusting the system suspension point before the implementation.

Description of drawings

Fig. 1 Aircraft front landing gear structure and kinematic mechanism cylinder diagram;

Among them: a is a schematic diagram of the structure of the aircraft's nose landing gear; b is a schematic diagram of the movement pair of the aircraft's nose landing gear.

Fig. 2 is the system structure and data flow chart of the system of the present invention.

Figure 3 is a structural diagram of the attitude adjustment positioning device and the measurement system of the system of the present invention;

Among them: a is a schematic diagram of the attitude adjustment and positioning device of the system of the present invention; b is a schematic diagram of the structure of the measurement system of the present invention.

Fig. 4 is a flow chart of the measurement and control method of the method of the present invention.

Detailed ways

The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings: this embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following the described embodiment.

Example 1

As shown in Figure 2, this embodiment relates to an online adjustment system for attitude adjustment and positioning before the assembly of the front landing gear of an aircraft, including: a measurement system module 1, a calculation control feedback module 2, an attitude adjustment positioning device 3 and a support platform 4, wherein : the attitude adjustment and positioning device 3 is installed on the support stand 4, the positioning unit 5 in the attitude adjustment and positioning device 3 is installed on the attitude adjustment mechanism 6, and the landing gear is pre-installed on the positioning unit 5;

Obtain the functional size data of the remaining stroke of the retractable actuator reflecting the retractable performance of the landing gear by measuring the remaining stroke when it is fully lowered and retracted, and the positioning unit 5 placed in the attitude adjustment positioning device 3 is obtained by the measurement system module 1 Based on the center position data of each positioning axis above, judge whether the remaining travel meets the requirements. If the measured functional size does not meet the requirements, the deviation source diagnostic unit module 7 in the calculation control feedback module 2 can obtain the sensitivity coefficient ( That is, the deviation influence coefficient), to realize the deviation source diagnosis of functional dimensions. According to the diagnosis result calculated by the deviation source diagnosis unit module 7, the positioning axis position adjustment scheme is designed by the positioning axis adjustment scheme design unit module 8 in the calculation control feedback module 2, and the positioning axis coordinate position adjustment direction and adjustment value are calculated and output, and sent. For the attitude adjustment and positioning module 3, the motor is driven to perform three-dimensional real-time adjustment of the position and attitude of the positioning axis. By repeating the above-mentioned process, the center position of each positioning axis in the landing gear member is finally adjusted until the functional dimensions meet the requirements of the engineering design under the state of being fully laid down and fully stowed at the same time. Finally, according to the final position data of the center of the positioning shaft given by the system as a basis, determine the coordinates of the positioning shaft hole of the system hanging point on the nose assembly, and select a suitable process to complete the hole-shaft-hole of the relevant positioning shaft on the landing gear and the nose system components Connect and cooperate to complete the landing gear installation.

As shown in Figure 3a, X and Y are set in the figure to constitute the coordinates of the horizontal plane, and Z is the coordinate of the vertical horizontal plane. As shown in Figures 3a and 3b, the support platform 9, the attitude adjustment unit support 10, the X-direction motion guide rail 11, the X-direction wheel 12, the Y-direction screw mechanism and the drive unit 13, the Z-direction screw mechanism and the drive unit 14, the OTP Holes 15, positioning shaft pins 16, X-direction drive motors 17, measurement data processing computers 18 and laser trackers 19.

The measurement system module 1 includes a laser tracker 19, an OTP hole 15, a measurement data acquisition computer 18, a tool ball and the like. It is mainly used to measure the coordinate position of the positioning axis where the positioning axis pin 16 on the support 10 of the attitude adjustment unit is located. The tool ball is placed in the OTP hole 15, the position of the tool ball is measured by the laser tracker, the center coordinates of the positioning axis are obtained through coordinate conversion, and the center coordinate data of the positioning axis are sent to the computer control feedback module 2 as input data for this module.

As shown in Figure 3a, the support platform 9 and the X-direction motion guide rail 11, the support platform 9 is installed on the column, and the X-direction motion guide rail 11 is installed on the support platform 9, forming the support platform 4 described in Figure 2;

The attitude adjustment and positioning device 3 includes a positioning unit 5 and an attitude adjustment mechanism 6 . in:

The positioning pivot pin 16 and the corresponding X guide wheel 12, the positioning pivot pin 16 and the corresponding unit with the X guide wheel are installed on the X-direction motion guide rail of the supporting stand, forming the positioning unit 5 described in Fig. 2 ;

X向导轮12、Y向丝杠机构与驱动单元13、Z向丝杠机构与驱动单元14及X向驱动电机17构成图2中所述所述调姿机构6；X向驱动电机17接收测量数据处理计算机18输出的调整量实时精确调整X向导轮12、Y向丝杠机构与驱动单元13和Z向丝杠机构与驱动单元14的调整量。调姿单元支撑10上设有OTP孔15，激光跟踪仪19通过测量OTP孔15处工具球的位置就可以换算得到所测定位轴坐标位置。

X direction guide wheel 12, Y direction lead screw mechanism and drive unit 13, Z direction lead screw mechanism and drive unit 14 and X direction drive motor 17 constitute described attitude adjustment mechanism 6 described in Fig. 2; X direction drive motor 17 receives measurement The adjustment amount output by the data processing computer 18 accurately adjusts the adjustment amount of the X-direction wheel 12 , the Y-direction screw mechanism and the drive unit 13 , and the Z-direction screw mechanism and the drive unit 14 in real time. The attitude adjustment unit support 10 is provided with an OTP hole 15, and the laser tracker 19 can convert the position of the measured positioning axis by measuring the position of the tool ball at the OTP hole 15.

The computer control feedback module 2 in FIG. 2 includes a deviation source diagnosis unit module 7 and a positioning axis adjustment scheme design unit module 8 .

所述偏差源诊断单元模块7用来实时计算各定位轴的对所需控制功能尺寸的敏感度系数(即偏差影响系数)。该模块以测量系统模块1传送的定位轴坐标和功能尺寸测量数据作为输入，当功能尺寸不能满足工程设计要求，该模块输出偏差敏感度系数，并将其作为计算机控制反馈模块2中定位轴调整方案设计单元模块8的输入。

The deviation source diagnosis unit module 7 is used to calculate in real time the sensitivity coefficient (ie deviation influence coefficient) of each positioning axis to the required control function size. This module takes the positioning axis coordinates and functional dimension measurement data transmitted by the measurement system module 1 as input. When the functional dimension cannot meet the engineering design requirements, the module outputs the deviation sensitivity coefficient and uses it as the positioning axis adjustment in the computer control feedback module 2. Input of scheme design unit module 8.

所述定位轴调整方案设计单元模块8以偏差源诊断单元模块7输出的敏感度系数和功能尺寸工程设计要求为输入，输出为定位轴坐标位置调整方向和调整值大小，并发送给调姿定位模块3，驱动电机进行定位轴位姿的三维实时调整。

The positioning axis adjustment scheme design unit module 8 takes the sensitivity coefficient and functional size engineering design requirements output by the deviation source diagnosis unit module 7 as input, and the output is the adjustment direction and adjustment value of the positioning axis coordinate position, and sends it to the attitude adjustment and positioning Module 3, drive the motor to perform three-dimensional real-time adjustment of the positioning axis pose.

Compared with the prior art, the advantages of this embodiment are as follows: 1.0 The devices used in the online adjustment system described in this embodiment are all mature products, with high reliability, low investment, and simple and easy on-site implementation; 2. Different numbers of devices can be configured The layout scheme of the attitude adjustment and positioning device satisfies the confirmation of the structural attitude before the system installation of different types of nose landing gear components, and realizes flexible clamping; 3. The attitude adjustment and positioning device can meet the functional size requirements of relevant moving parts, according to the measured data on site Timely feedback and adjustment of the three-dimensional space coordinates of the positioning shaft hole, automatic feedback adjustment of the positioning unit, and improvement of assembly quality for the movement function of the mechanism; 4. In this embodiment, real-time monitoring of the functional size tolerance during the assembly process is carried out, which is faster and more efficient than the traditional assembly process .

Example 2

This embodiment relates to an online adjustment method for attitude adjustment and positioning before the assembly of the nose landing gear of an aircraft, as shown in Figure 4, including the following steps:

1. Connect the system hanging points of each moving part in the front landing gear (as shown in Figure 1, points P1 and P2 of the main pillar; points P3 and P4 of the front strut; point) to the positioning shaft pin 16 shown in Figure 3, and complete the connection structure of the remaining positioning shafts

2. Preinstall the front landing gear components on the attitude adjustment unit support 10 via several positioning pivot pins 16, and adjust the components so that the front landing gear is completely lowered and placed on the support platform 9 (as shown in Figure 3);

3. Measure and obtain the value of the remaining stroke of the retractable actuator, that is, the functional size, measure the position data of each positioning axis measuring point installed on the positioning axis pin 16 shown in Figure 3 through the measurement system module, and obtain the measured measuring points after coordinate conversion Corresponding coordinates in the fuselage coordinate system, send the data to the computer control feedback module;

4. Determine whether the remaining travel number of the retractable actuator meets the actual engineering requirements, and if so, proceed to 6; if the engineering requirements are not met, the deviation source diagnostic unit module 7 in the control feedback module 2 shown in Figure 2 is calculated according to the above-mentioned The center position data of the obtained positioning axis is solved and calculated, and the sensitivity coefficient (ie, the deviation influence coefficient) of each positioning axis to the required control function size in the fully lowered state is obtained, and the deviation source diagnosis of the function size is realized;

5. According to the sensitivity coefficient calculated by the deviation source diagnosis unit module in the calculation control feedback module, the positioning axis position adjustment scheme is designed by the positioning axis adjustment scheme design unit module 8 in the calculation control feedback module 2 shown in Figure 2, and the positioning is calculated and output The axis coordinate position adjusts the direction and the adjustment value, and sends it to the attitude adjustment positioning module 3, which drives the motor to perform three-dimensional real-time adjustment of the orientation axis position, and repeats the actions of 3 and 4;

6. Adjust the landing gear components so that the positioning shaft rotates on the positioning unit until the front landing gear is in a fully retracted state. Measure and obtain the remaining stroke value of the retractable actuator under the fully retracted state, which is the functional size;

7. Determine whether the remaining strokes of the retractable actuator meet the actual engineering requirements, and if so, enter 9; if the engineering requirements are not met, then calculate and control the deviation source diagnostic unit module 7 in the feedback module 2 as shown in Figure 2 according to the above-mentioned The center position data of the obtained positioning shaft is solved and calculated, and the sensitivity coefficient (ie, the deviation influence coefficient) of each positioning shaft to the required control function size in the fully retracted state is obtained, and the deviation source diagnosis of the function size is realized;

8. According to the sensitivity coefficient calculated by the deviation source diagnosis unit module 7 in the calculation control feedback module 2 shown in Figure 2, the positioning axis position adjustment scheme is designed by the positioning axis adjustment scheme design unit module 8 in the calculation control feedback module 2, and calculated Output the adjustment direction and adjustment value of the coordinate position of the positioning axis, and send it to the attitude adjustment positioning module 3, drive the motor to perform three-dimensional real-time adjustment of the positioning axis position, and repeat the actions of 3-8

9. The system gives the final position of the center of the positioning axis of the system attachment point connected to the nose part on the nose landing gear part, and ends.

Note: If the remaining travel requirements have not been met, the process can be cycled up to 5 times, the method flow is exited, and manual intervention is performed.

The functional dimension in the lowered state refers to the remaining stroke of the retractable actuating cylinder when the landing gear is fully lowered.

The functional dimension of the retracted state refers to the remaining stroke of the retractable actuating cylinder when the landing gear is fully retracted.

Described input data refers to: measuring system module 1 shown in Fig. 2 converts the X, Y, and Z coordinates of each positioning axonometric point position of the positioning unit measured by it into the coordinate value under the whole machine coordinate system of the fuselage, and It is input to the calculation control feedback module 2 as input data.

The pre-processing data refers to: analyzing the kinematic mechanism of the nose landing gear of the analysis object in this embodiment, which can be regarded as an 8-rod 10-pair linkage mechanism, which has a symmetrical plane in the X direction, so the simplified kinematic mechanism of the rod system is Y-Z Planar mechanism; the plane where the functional dimensions of the landing gear are put down and retracted is approximately parallel to the symmetrical plane, so the simplified projection of the functional dimensions located in the X-Y-Z space is the Y-Z plane dimension.

The determination of whether the remaining stroke meets the requirements refers to: whether the remaining stroke of the retractable actuating cylinder is greater than or equal to the value required by the engineering design when the landing gear is fully retracted; whether the remaining stroke of the retractable actuating cylinder is greater than or equal to the engineering design requirement Design requires values.

The deviation source diagnosis of the functional dimensions refers to: establish the closed-loop dimensional chain equation according to the mechanism analysis, obtain the functional dimensions L ₁ and L ₂ of the two states of landing gear down and retracted as the strain variables, and use the positioning unit’s The position P _i (y, z) of each positioning axonometric point is the constraint expression F1 and F2 of the two states of the independent variable, and the linear analysis method of the mechanism motion is used to calculate the coefficient reflecting the influence degree of each moving component in the structure on the deviation of the functional size Matrix J＝[J ₁ ; J ₂ ], J ₁ and J ₂ are respectively the sensitivity coefficients of each positioning axonometric point position to the functional size deviation of the retractable actuating cylinder under the fully lowered state and fully retracted state of the nose landing gear, By analyzing the sensitivity coefficients in the sensitivity coefficient matrix J that include the degree of influence and the positive and negative direction of the change, the position of the positioning axonometric point y that affects the degree of influence of each positioning axonometric point position on the functional size can be determined from large to small , the z coordinate, this work is realized by the calculation feedback control module.

The output positioning adjustment scheme refers to: when the remaining stroke does not meet the engineering requirements, it is necessary to adjust the position coordinates of each positioning axis according to the sensitivity coefficient to change the remaining stroke of the actuator, and adjust the completely put down and completely stowed state according to the needs. Remaining travel amount ΔL ₁ , ΔL ₂ and sensitivity coefficient matrix J, use generalized inverse calculation to obtain the position coordinate adjustment ΔP _i (y, z) of each positioning axis in the y, z direction, this work is controlled by calculation feedback The module is realized and output to the attitude adjustment mechanism.

Compared with the existing assembly adjustment method, the advantages of this embodiment are 1. By adopting the method of this embodiment, the blindness of relying on traditional on-site process experience to carry out assembly adjustment can be avoided, and the assembly elements with large influencing factors can be accurately screened through analysis, and adjusted in turn. The adjustment plan has a scientific basis, and the calculation convergence speed is fast; 2. This embodiment can realize the quantitative calculation and assembly adjustment plan for a type of kinematic mechanism components according to the mechanism kinematics analysis method; 3. Using the method of this embodiment, the upstream process can be The assembly deviation brought in is compensated according to the actual working conditions of the assembly parts to achieve component-level assembly quality control; 4. After the on-site implementation of the front landing gear assembly station of a certain type of aircraft, the time for the system hanging point adjustment process before implementation is Benchmark, the efficiency of assembly provisioning has increased by nearly 40%.

Claims (9)

1. An attitude adjustment and positioning online adjustment system before the assembly of the front landing gear of an aircraft, comprising: a support stand, an attitude adjustment mechanism and a landing gear, characterized in that it also includes: a measurement system module, a calculation control feedback module, and an attitude adjustment and positioning device , the output end of the measurement system module is connected to the input end of the calculation control feedback module, the output end of the calculation control feedback module is connected to the input end of the attitude adjustment mechanism, the attitude adjustment positioning device is set on the supporting platform, and the landing gear is preinstalled on the attitude adjustment mechanism on the positioning device; The calculation control feedback module includes a deviation source diagnosis unit module and a positioning axis adjustment scheme design unit module, the deviation source diagnosis unit module calculates the sensitivity coefficient of the required control function size, and realizes the deviation source diagnosis of the function size; the positioning axis adjustment scheme The design unit module designs the positioning axis position adjustment scheme based on the diagnosis results calculated by the deviation source diagnosis unit module, calculates and outputs the adjustment direction and the adjustment value of the positioning axis coordinate position, and sends them to the attitude adjustment positioning device for three-dimensional positioning axis pose Adjust in real time. 2. The online adjustment system for attitude adjustment and positioning before the assembly of the aircraft nose landing gear according to claim 1, wherein the attitude adjustment and positioning device is provided with a positioning unit, and the positioning unit is arranged on the attitude adjustment mechanism. 3. The attitude adjustment and positioning online adjustment system before the aircraft nose landing gear assembly according to claim 1 is characterized in that, the described landing gear is pre-installed on the positioning unit, and the input terminal input of the measurement system module is obtained by the measuring instrument. The measuring point position data of the landing gear reflecting the functional size of retractable performance and the position data of each positioning axon measuring point of the positioning unit. 4. according to claim 1 or 3 described aircraft front landing gear assembly front attitude adjustment positioning online adjustment system, it is characterized in that, the input terminal input of described measurement system module is by reflecting the measuring point of landing gear retractable performance functional size The output end of the position data and the position data of each positioning axonometric point of the positioning unit is connected to the input end of the calculation control feedback module, and the corresponding coordinates of the measured points in the fuselage coordinate system after coordinate conversion are output. 5. an online adjustment method for attitude adjustment and positioning before the assembly of the front landing gear of an aircraft, it is characterized in that, comprising the following steps: Step 1: Install the system hanging points of each moving part in the front landing gear member to the positioning unit and complete the assembly; Step 2: Pre-install the front landing gear components on the positioning unit, adjust the components so that the front landing gear is completely lowered and placed on the support stand; Step 3: Measure and obtain the remaining stroke value of the retractable actuator, that is, the functional size, measure the position data of each positioning axis measuring point installed on the positioning unit through the measurement system module, and obtain the measured measuring point in the fuselage coordinate system after coordinate conversion The corresponding coordinates under , send the data to the calculation control feedback module; Step 4: Determine whether the value of the remaining stroke of the retractable actuator meets the actual engineering requirements; Step 5: According to the sensitivity coefficient calculated by the deviation source diagnosis unit module in the calculation control feedback module; Step 6: Adjust the landing gear member so that the positioning shaft rotates on the positioning unit until the front landing gear is fully retracted, and measure and obtain the remaining travel value of the retractable actuator under the fully retracted state, which is the functional size; Step 7: Determine whether the remaining stroke value of the retractable actuator meets the actual engineering requirements; Step 8: According to the sensitivity coefficient calculated by the deviation source diagnosis unit module in the calculation control feedback module; Step 9: The system gives the final position of the center of the positioning axis of the system attachment point connected to the nose part on the front landing gear part, and ends. 6. the attitude adjustment positioning online adjustment method before the nose landing gear assembly of the aircraft according to claim 5, it is characterized in that, whether the remaining travel value of the retractable actuator described in the step 4 meets the actual engineering requirements refers to: If satisfied, proceed to step 6; If it does not meet the engineering requirements, the deviation source diagnosis unit module in the calculation control feedback module is calculated according to the center position data of the positioning axis obtained above, and the sensitivity coefficient of each positioning axis to the required control function size in the fully lowered state is obtained, so as to realize Diagnosis of deviation sources for functional dimensions. 7. the attitude adjustment positioning online adjustment method before the aircraft nose landing gear assembly according to claim 5, it is characterized in that, described in the step 5 according to the calculated sensitivity coefficient of the deviation source diagnosis unit module in the calculation control feedback module, by The positioning axis adjustment scheme design unit module in the calculation control feedback module designs the positioning axis position adjustment scheme, calculates and outputs the adjustment direction and adjustment value of the positioning axis coordinate position, and sends them to the attitude adjustment positioning module to drive the motor to perform three-dimensional positioning axis pose Adjust in real time, repeat steps 3 and 4. 8. The attitude adjustment and positioning online adjustment method before the nose landing gear assembly of the aircraft according to claim 5 is characterized in that, whether the value of the remaining stroke of the retractable actuator described in step 7 satisfies the actual engineering requirements refers to: If satisfied, go to step nine; If it does not meet the engineering requirements, the deviation source diagnosis unit module in the calculation control feedback module is calculated based on the center position data of the positioning shaft obtained above, and the sensitivity coefficient of each positioning shaft to the required control function size in the fully retracted state is obtained. Diagnosis of deviation sources for functional dimensions is achieved. 9. the attitude adjustment and positioning online adjustment method before the aircraft nose landing gear assembly according to claim 5, it is characterized in that, according to the sensitivity coefficient calculated by the deviation source diagnosis unit module in the calculation control feedback module described in step 8, by The positioning axis adjustment scheme design unit module in the calculation control feedback module designs the positioning axis position adjustment scheme, calculates and outputs the adjustment direction and adjustment value of the positioning axis coordinate position, and sends them to the attitude adjustment positioning module to drive the motor to perform three-dimensional positioning axis pose Adjust in real time, repeat steps 3 to 8.

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